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.h | 1
lib/src/main/cpp/driver_test.cpp | 27 +++++-
lib/src/main/cpp/master/comm_if.cpp | 2
lib/src/main/cpp/native-lib.cpp | 2
lib/src/main/cpp/test_items2/through_something.cpp | 24 +++++
lib/src/main/cpp/test_items2/road_exam.cpp | 133 ++++++++++++++++++++++++++++-----
lib/src/main/cpp/driver_test.h | 2
7 files changed, 159 insertions(+), 32 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index 8601f17..fae8d3b 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -277,7 +277,7 @@
}
}
-void AddRoadMapParent(int id, int type, string tts,
+void AddRoadMapParent(int id, int type, string tts, int stopFlag,
vector<vector<int>> &redLines,
vector<vector<int>> &redAreas,
vector<vector<int>> &greenLines,
@@ -290,8 +290,13 @@
newMap.id = id;
newMap.type = type;
newMap.tts = tts;
+ newMap.flagStop = stopFlag;
DEBUG("鍔犲叆璺�冨湴鍥句俊鎭� id = %d type = %d", id, type);
+
+ if (!tts.empty()) {
+ DEBUG("TTS 淇℃伅 = %s", tts.c_str());
+ }
if ((newMap.redLineNum = redLines.size()) > 0) {
newMap.redLine = (Polygon *) malloc(sizeof(Polygon) * newMap.redLineNum);
@@ -357,7 +362,7 @@
newMap.triggerLine[i].line.num = triggerLines[i].size() - 1;
newMap.triggerLine[i].line.point = (PointF *) malloc(sizeof(PointF) * newMap.triggerLine[i].line.num);
- DEBUG(" 缁撶偣 %d 涓�", newMap.triggerLine[i].line.num);
+ DEBUG(" 缁撶偣 %d 涓�, 瑙﹀彂 id = %d", newMap.triggerLine[i].line.num, triggerLines[i][0]);
newMap.triggerLine[i].triggerMapId = triggerLines[i][0];
for (int j = 0; j < newMap.triggerLine[i].line.num; ++j) {
@@ -497,7 +502,7 @@
{
DEBUG("鑾峰彇妯℃嫙璺�冪伅鍏夋祴璇曢」鐩� N = %d %d", n, ExamStart);
-// if (ExamStart) return;
+ if (ExamStart) return;
if (DummyLightContent != NULL) {
free(DummyLightContent);
@@ -538,8 +543,8 @@
}
if (DummyLightContent == NULL && type == TEST_TYPE_ROAD_DUMMY_LIGHT) {
DEBUG("娌℃湁妯℃嫙鐏厜");
- err = true;
- MA_SendExamStatus(0, -3);
+// err = true;
+// MA_SendExamStatus(0, -3);
}
if (type != TEST_TYPE_AREA && (RoadMapPoints.num == 0 || RoadMapPoints.point == NULL || RoadMapList.size() == 0)) {
DEBUG("娌℃湁璺�冨湴鍥�");
@@ -559,6 +564,8 @@
if (type == TEST_TYPE_ROAD_DUMMY_LIGHT) {
exam_dummy_light = 0;
+
+// InitRoadExam(); ////////////////////
}
}
MA_SendExamStatus(1, 0);
@@ -733,16 +740,18 @@
if (ExamType == TEST_TYPE_AREA)
AddExamFault(4, rtkTime);
}
-DEBUG("22222222222222222222");
+
if (ExamType == TEST_TYPE_ROAD_DUMMY_LIGHT) {
if (exam_dummy_light == 0) {
StartDummyLightExam(DummyLightContent, DummyLightContentSize, rtkTime);
exam_dummy_light = 1;
// 姹囨姤鐏厜鑰冭瘯寮�濮�
+ DEBUG("鐏厜鑰冭瘯寮�濮�");
} else if (exam_dummy_light == 1) {
exam_dummy_light = ExecuteDummyLightExam(rtkTime);
// 姹囨姤鐏厜鑰冭瘯缁撴潫
if (exam_dummy_light == 2) {
+ DEBUG("鐏厜鑰冭瘯缁撴潫");
InitRoadExam();
}
}
@@ -912,6 +921,7 @@
tm.DD = RtkBuffer[p1].DD;
tm.hh = RtkBuffer[p1].hh;
tm.mm = RtkBuffer[p1].mm;
+ tm.ss = RtkBuffer[p1].ss;
tm.mss = RtkBuffer[p1].dss;
UpdateCarBodyCoord(&tm, RtkBuffer[p1].heading, RtkBuffer[p1].pitch, RtkBuffer[p1].roll, main_ant_coord, CarModel);
@@ -1210,6 +1220,11 @@
fault.sn = examFaultIndex++;
sprintf(fault.utc, "%04d%02d%02d%02d%02d%02d.%02d", 2000 + rtkTime->YY,
rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
+
+ if (ExamType != TEST_TYPE_AREA) {
+ wrong += 1000;
+ }
+
fault.wrong_id = wrong;
DEBUG("鑰冭瘯鍙戠敓閿欒 %d %s", wrong, fault.utc);
diff --git a/lib/src/main/cpp/driver_test.h b/lib/src/main/cpp/driver_test.h
index ca11dee..b590054 100644
--- a/lib/src/main/cpp/driver_test.h
+++ b/lib/src/main/cpp/driver_test.h
@@ -124,7 +124,7 @@
void AddMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2);
void CleanRoadMap(void);
void SetRoadMapPoints(vector<double> &mapPoints);
-void AddRoadMapParent(int id, int type, string tts, vector<vector<int>> &redLines,
+void AddRoadMapParent(int id, int type, string tts, int stopFlag, vector<vector<int>> &redLines,
vector<vector<int>> &redAreas, vector<vector<int>> &greenLines, vector<vector<int>> &triggerLines,
vector<int> area, vector<int> stopLine);
diff --git a/lib/src/main/cpp/master/comm_if.cpp b/lib/src/main/cpp/master/comm_if.cpp
index cf9abe8..fddeb5c 100644
--- a/lib/src/main/cpp/master/comm_if.cpp
+++ b/lib/src/main/cpp/master/comm_if.cpp
@@ -633,7 +633,7 @@
tts = s.GetString();
}
- AddRoadMapParent(id, type, tts, redLines, redAreas, greenLines, triggerLines, area, stopLine);
+ AddRoadMapParent(id, type, tts, stop_flag, redLines, redAreas, greenLines, triggerLines, area, stopLine);
}
}
}
diff --git a/lib/src/main/cpp/native-lib.cpp b/lib/src/main/cpp/native-lib.cpp
index 9cc7f3c..e19a097 100644
--- a/lib/src/main/cpp/native-lib.cpp
+++ b/lib/src/main/cpp/native-lib.cpp
@@ -26,7 +26,7 @@
const int RTK_PLATFORM_PORT = 12125;
const uint8_t phone[] = {0x20,0x19,0x10,0x15,0x00,0x00,0x00,0x01};
-const char *VIRTUAL_RTK_IP = "192.168.3.52";
+const char *VIRTUAL_RTK_IP = "192.168.16.100";
const int VIRTUAL_RTK_PORT = 9001;
static void SendBootIndicate(union sigval sig);
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;
}
diff --git a/lib/src/main/cpp/test_items2/road_exam.h b/lib/src/main/cpp/test_items2/road_exam.h
index 16d0fd2..2b9d29c 100644
--- a/lib/src/main/cpp/test_items2/road_exam.h
+++ b/lib/src/main/cpp/test_items2/road_exam.h
@@ -22,5 +22,6 @@
void InitRoadExam(void);
void TestRoadGeneral(LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime);
bool ExitSonArea(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car);
+bool CrashSonRedLine(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList);
#endif //MYAPPLICATION2_ROAD_EXAM_H
diff --git a/lib/src/main/cpp/test_items2/through_something.cpp b/lib/src/main/cpp/test_items2/through_something.cpp
index 33fe453..f0fa865 100644
--- a/lib/src/main/cpp/test_items2/through_something.cpp
+++ b/lib/src/main/cpp/test_items2/through_something.cpp
@@ -17,17 +17,22 @@
static int breakActive;
static int stopActive;
+static bool crashRedLine;
void StartThroughExam(int index, LIST_ROAD_MAP &RoadMapList)
{
if (index == -1)
return;
- DEBUG("杩涘叆璺�冨瓙鍦板浘 index = %d id = %d item = %d", index, RoadMapList[index].id, RoadMapList[index].type);
+ DEBUG("杩涘叆璺�冮�氳繃something鍦板浘 index = %d id = %d item = %d", index, RoadMapList[index].id, RoadMapList[index].type);
if (!RoadMapList[index].tts.empty()) {
+ DEBUG("鎾斁TTS");
PlayTTS(RoadMapList[index].tts.c_str(), 0);
+ } else {
+ DEBUG("娌℃湁TTS");
}
breakActive = 0;
stopActive = 0;
+ crashRedLine = false;
}
int ExecuteThroughExam(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car,
@@ -99,6 +104,7 @@
default:
break;
}
+ stopActive = -1;
} else if (distance2StopLine < DISTANCE_STOP_CAR_TO_STOP_LINE) {
if (moveDirect == 0) {
stopActive = 1;
@@ -106,9 +112,21 @@
}
}
- if (ExitSonArea(index, RoadMapList, car))
+ if (CrashSonRedLine(index, RoadMapList, car, CarModelList)) {
+ if (!crashRedLine) {
+ DEBUG("涓嶆寜鑰冭瘯鍛樻寚浠よ椹�");
+ crashRedLine = true;
+ // 涓嶆寜鑰冭瘯鍛樻寚浠よ椹�
+ AddExamFault(3, rtkTime);
+ }
+ } else {
+ crashRedLine = false;
+ }
+
+ if (ExitSonArea(index, RoadMapList, car)) {
+ DEBUG("绂诲紑閫氳繃something鍖哄煙");
return -1;
+ }
return index;
}
-
--
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