From 345dcbfaf5a716fdd8649885c32c34b50d361968 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期五, 28 二月 2020 17:39:58 +0800
Subject: [PATCH] 更新地图
---
lib/src/main/cpp/driver_test.cpp | 16 +++++++++++-----
lib/src/main/cpp/native-lib.cpp | 2 +-
lib/src/main/cpp/test_items2/common_check.cpp | 33 +++++++++++++++++++++++++++++++++
3 files changed, 45 insertions(+), 6 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index d9adce2..1fccf31 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -997,7 +997,9 @@
for (int i = 0; i < carModel->pointNum; ++i) {
double qrx = carModel->carDesc[i].distance * sin(toRadians(carModel->carDesc[i].angle));
- double qry = carModel->carDesc[i].distance * cos(toRadians(carModel->carDesc[i].angle)) * cos(toRadians(pitch));
+ double qry =
+ carModel->carDesc[i].distance * cos(toRadians(carModel->carDesc[i].angle)) *
+ cos(toRadians(pitch));
double projectDistance = sqrt(pow(qrx, 2) + pow(qry, 2));
double projectAngle = toDegree(acos(qry / projectDistance));
@@ -1009,10 +1011,14 @@
// double tx = projectDistance*sin(toRadians(azimuth));
// double ty = projectDistance*cos(toRadians(azimuth));
- carModel->carXY[i].X = projectDistance*sin(toRadians(azimuth)) * cos(toRadians(projectAngle)) -
- projectDistance*cos(toRadians(azimuth)) * sin(toRadians(projectAngle)) + main_ant.X;
- carModel->carXY[i].Y = projectDistance*sin(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
- projectDistance*cos(toRadians(azimuth)) * cos(toRadians(projectAngle)) + main_ant.Y;
+ carModel->carXY[i].X =
+ projectDistance * sin(toRadians(azimuth)) * cos(toRadians(projectAngle)) -
+ projectDistance * cos(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
+ main_ant.X;
+ carModel->carXY[i].Y =
+ projectDistance * sin(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
+ projectDistance * cos(toRadians(azimuth)) * cos(toRadians(projectAngle)) +
+ main_ant.Y;
}
}
diff --git a/lib/src/main/cpp/native-lib.cpp b/lib/src/main/cpp/native-lib.cpp
index bd79e17..8f18adf 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/common_check.cpp b/lib/src/main/cpp/test_items2/common_check.cpp
index 2fce091..e572c16 100644
--- a/lib/src/main/cpp/test_items2/common_check.cpp
+++ b/lib/src/main/cpp/test_items2/common_check.cpp
@@ -3,3 +3,36 @@
//
#include "common_check.h"
+#include "../test_items/comm_test.h"
+#include "../driver_test.h"
+
+// 鐢变汉宸ョ‘璁�
+// 2 閬尅杞﹀唴鐩戞帶璁惧
+// 3 涓嶆寜鑰冭瘯鍛樻寚浠よ椹�
+// 9 涓嶆寜浜ら�氫俊鍙枫�佹爣绾胯椹�
+// 28 璧锋鏃惰溅杈嗗彂鐢熼棷鍔�
+
+static int prevMoveDirect;
+
+void StartCheck(int moveDirect, double speed, const struct RtkTime *rtkTime)
+{
+ if (prevMoveDirect != moveDirect) {
+
+ if (prevMoveDirect == 0) {
+ // 璧锋鎸傞敊鎸★紝涓嶅悎鏍�
+ if (CheckSensorX(SHIFT) != '1') {
+ AddExamFault(19, rtkTime);
+ }
+
+ // 璧锋娌℃湁鍏抽棴杞﹂棬锛屼笉鍚堟牸
+ if (CheckSensorX(DOOR) != 1) {
+ AddExamFault(23, rtkTime);
+ }
+
+ // 鍚庢粦鍒ゆ柇
+
+ }
+
+ prevMoveDirect = moveDirect;
+ }
+}
--
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