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/drive_straight.cpp | 137 ++++++----
lib/src/main/cpp/test_items2/drive_straight.h | 4
lib/src/main/cpp/test_items2/stop_car.h | 6
lib/src/main/cpp/driver_test.cpp | 97 --------
lib/src/main/cpp/test_items2/through_something.cpp | 62 ++++
lib/src/main/cpp/test_items2/operate_gear.h | 5
lib/src/main/cpp/test_items2/road_exam.cpp | 276 +++++++++++++++++++---
lib/src/main/cpp/test_items2/stop_car.cpp | 78 +++--
lib/src/main/cpp/test_items2/operate_gear.cpp | 9
lib/src/main/cpp/driver_test.h | 3
lib/src/main/cpp/test_common/Geometry.cpp | 2
11 files changed, 434 insertions(+), 245 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index b0811d2..233b416 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -196,106 +196,9 @@
DEBUG("娓呴櫎鏃х殑璺�冨湴鍥�");
- if (RoadMapPoints.point != NULL) {
- free(RoadMapPoints.point);
- }
- RoadMapPoints.num = 0;
-
- for (int i = 0; i < RoadMap.roads.size(); ++i) {
- for (int j = 0; j < RoadMap.roads[i].leftEdge.size(); ++j) {
- RoadMap.roads[i].leftEdge[j].points.clear();
- vector<PointF>().swap(RoadMap.roads[i].leftEdge[j].points);
- }
- RoadMap.roads[i].leftEdge.clear();
- vector<edge_t>().swap(RoadMap.roads[i].leftEdge);
-
- for (int j = 0; j < RoadMap.roads[i].rightEdge.size(); ++j) {
- RoadMap.roads[i].rightEdge[j].points.clear();
- vector<PointF>().swap(RoadMap.roads[i].rightEdge[j].points);
- }
- RoadMap.roads[i].rightEdge.clear();
- vector<edge_t>().swap(RoadMap.roads[i].rightEdge);
-
- for (int j = 0; j < RoadMap.roads[i].separate.size(); ++j) {
- for (int k = 0; k < RoadMap.roads[i].separate[j].lines.size(); ++k) {
- for (int m = 0; m < RoadMap.roads[i].separate[j].lines[k].size(); ++m) {
- RoadMap.roads[i].separate[j].lines[k][m].points.clear();
- vector<PointF>().swap(RoadMap.roads[i].separate[j].lines[k][m].points);
- }
-
- RoadMap.roads[i].separate[j].lines[k].clear();
- vector<segment_t>().swap(RoadMap.roads[i].separate[j].lines[k]);
- }
- RoadMap.roads[i].separate[j].lines.clear();
- vector<vector<segment_t>>().swap(RoadMap.roads[i].separate[j].lines);
- }
- RoadMap.roads[i].separate.clear();
- vector<separate_t>().swap(RoadMap.roads[i].separate);
- }
-
- RoadMap.roads.clear();
vector<road_t>().swap(RoadMap.roads);
-
- for (int i = 0; i < RoadMap.specialAreas.size(); ++i) {
- RoadMap.specialAreas[i].area.clear();
- vector<PointF>().swap(RoadMap.specialAreas[i].area);
- }
- RoadMap.specialAreas.clear();
vector<special_area_t>().swap(RoadMap.specialAreas);
-
- RoadMap.triggerLines.clear();
vector<trigger_line_t>().swap(RoadMap.triggerLines);
-/*
- for (int i = 0; i < RoadMapList.size(); ++i) {
- struct road_exam_map map = RoadMapList[i];
-
- if (map.redLine != NULL) {
- for (int j = 0; j < map.redLineNum; ++j) {
- if (map.redLine[j].point != NULL)
- free(map.redLine[j].point);
- }
- free(map.redLine);
- }
-
- if (map.greenLine != NULL) {
- for (int j = 0; j < map.greenLineNum; ++j) {
- if (map.greenLine[j].point != NULL)
- free(map.greenLine[j].point);
- }
- free(map.greenLine);
- }
-
- if (map.redArea != NULL) {
- for (int j = 0; j < map.redAreaNum; ++j) {
- if (map.redArea[j].point != NULL)
- free(map.redArea[j].point);
- }
- free(map.redArea);
- }
-
- if (map.triggerLine != NULL) {
- for (int j = 0; j < map.triggerLineNum; ++j) {
- if (map.triggerLine[j].line.point != NULL)
- free(map.triggerLine[j].line.point);
- }
- free(map.triggerLine);
- }
-
- if (map.area.point != NULL) {
- free(map.area.point);
- }
-
- if (map.roadEdgeLine != NULL) {
- for (int j = 0; j < map.roadEdgeLineNum; ++j) {
- if (map.roadEdgeLine[j].point != NULL)
- free(map.roadEdgeLine[j].point);
- }
-
- free(map.roadEdgeLine);
- }
- }
-
- RoadMapList.clear();*/
}
void SetRoadMap(road_exam_map &map)
diff --git a/lib/src/main/cpp/driver_test.h b/lib/src/main/cpp/driver_test.h
index 46a6abc..81d7b1d 100644
--- a/lib/src/main/cpp/driver_test.h
+++ b/lib/src/main/cpp/driver_test.h
@@ -168,6 +168,7 @@
int targetRoad;
int stopFlag;
string tts;
+ bool arrivedTail;
Polygon area; // 鏁翠釜閬撹矾鍖哄煙
std::vector<edge_t> leftEdge;
std::vector<edge_t> rightEdge;
@@ -186,6 +187,8 @@
int id;
int road;
int active;
+ int time; // 椤圭洰鏈�澶у畬鎴愭椂闂�
+ int distance; // 椤圭洰鏈�澶у畬鎴愯窛绂�
string tts;
Line line;
} trigger_line_t;
diff --git a/lib/src/main/cpp/test_common/Geometry.cpp b/lib/src/main/cpp/test_common/Geometry.cpp
index 7f8c02c..03b5434 100644
--- a/lib/src/main/cpp/test_common/Geometry.cpp
+++ b/lib/src/main/cpp/test_common/Geometry.cpp
@@ -536,10 +536,10 @@
p2.Y = line.Y2;
PointF pv = GetVerticalPoint(p1, p2, point);
+ vp = pv;
if (isEqual2(pv.X, MIN(p1.X, p2.X)) || isEqual2(pv.X, MAX(p1.X, p2.X)) ||
(pv.X > MIN(p1.X, p2.X) && pv.X < MAX(p1.X, p2.X))) {
- vp = pv;
return true;
}
return false;
diff --git a/lib/src/main/cpp/test_items2/drive_straight.cpp b/lib/src/main/cpp/test_items2/drive_straight.cpp
index 5e2b12f..3b9f8d3 100644
--- a/lib/src/main/cpp/test_items2/drive_straight.cpp
+++ b/lib/src/main/cpp/test_items2/drive_straight.cpp
@@ -15,88 +15,117 @@
static const double CHECK_STAGE_DISTANCE = 100.0;
static const double MAX_OFFSET_DISTANCE = 0.3;
+static int ttsPlayEnd;
static bool crossStartLine;
static bool reportOffsetOver;
static double edgeDistance;
+static double distanceToStartSum;
-void StartDriveStraightExam(int index, LIST_ROAD_MAP &RoadMapList) {
- if (index == -1)
- return;
+static double CalcDistance2Edge(road_t &road, const car_model *car);
- DEBUG("杩涘叆璺�冪洿绾胯椹跺湴鍥� index = %d id = %d item = %d", index, RoadMapList[index].id, RoadMapList[index].type);
+void StartDriveStraightExam(std::string tts) {
+ DEBUG("寮�濮嬬洿绾胯椹�");
- if (!RoadMapList[index].tts.empty()) {
- DEBUG("鎾斁TTS");
- PlayTTS(RoadMapList[index].tts.c_str());
+ if (!tts.empty()) {
+ PlayTTS(tts.c_str());
} else {
DEBUG("娌℃湁TTS");
}
- crossStartLine = false;
+ distanceToStartSum = 0;
reportOffsetOver = false;
}
-int ExecuteDriveStraightExam(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car,
+int ExecuteDriveStraightExam(road_t &road, const car_model *car,
LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime) {
- Line road_edge;
-
static PointF startPoint;
- MakeLine(&road_edge, &RoadMapList[index].roadEdgeLine[0].point[0], &RoadMapList[index].roadEdgeLine[0].point[1]);
+ double dis2roadEdge = 0;
- {
- double l1 = DistanceOf(car->carXY[car->right_front_tire[TIRE_OUTSIDE]], road_edge);
+ if (ttsPlayEnd == 1) {
+ ttsPlayEnd = 2;
+ startPoint = car->basePoint;
+ edgeDistance = CalcDistance2Edge(road, car); // 鍩哄噯杈硅窛
- double l2 = DistanceOf(car->carXY[car->right_rear_tire[TIRE_OUTSIDE]], road_edge);
-
- MA_SendDistance(6 - (l1+l2)/2.0, (l1+l2)/2.0);
+ DEBUG("褰撳墠鍩哄噯璺竟闂磋窛 %f", edgeDistance);
}
- if (!crossStartLine) {
- PointF p1, p2;
+ if (ttsPlayEnd != 2)
+ return 1;
- p1.X = RoadMapList[index].stopLine.X1;
- p1.Y = RoadMapList[index].stopLine.Y1;
- p2.X = RoadMapList[index].stopLine.X2;
- p2.Y = RoadMapList[index].stopLine.Y2;
+ double distanceToStart = DistanceOf(car->basePoint, startPoint);
+ dis2roadEdge = CalcDistance2Edge(road, car);
- if (IntersectionOfLine(p1, p2, car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == -1) {
- DEBUG("璺ㄨ繃鏍囪绾匡紝寮�濮嬬洿绾挎祴璇�");
- crossStartLine = true;
- startPoint = car->basePoint;
- edgeDistance = DistanceOf(car->basePoint, road_edge);
+ DEBUG("璺竟闂磋窛 %f --- %f", dis2roadEdge, edgeDistance);
- DEBUG("褰撳墠鍩哄噯璺竟闂磋窛 %f", edgeDistance);
- }
- } else {
- double distanceToStart = DistanceOf(car->basePoint, startPoint);
+ if (!reportOffsetOver && fabs(dis2roadEdge - edgeDistance) > MAX_OFFSET_DISTANCE) {
+ DEBUG("鐩寸嚎鍋忕Щ澶т簬30鍘樼背");
+ // 鍋忕Щ澶т簬30鍘樼背锛屼笉鍚堟牸
+ AddExamFault(30, rtkTime);
+ reportOffsetOver = true;
- DEBUG("璺竟闂磋窛 %f --- %f", DistanceOf(car->basePoint, road_edge), edgeDistance);
-
- if (!reportOffsetOver && fabs(DistanceOf(car->basePoint, road_edge) - edgeDistance) > MAX_OFFSET_DISTANCE) {
- DEBUG("鐩寸嚎鍋忕Щ澶т簬30鍘樼背");
- // 鍋忕Щ澶т簬30鍘樼背锛屼笉鍚堟牸
- AddExamFault(30, rtkTime);
- reportOffsetOver = true;
-
- //////////////////////////////////////////////
- startPoint = car->basePoint;
- edgeDistance = DistanceOf(car->basePoint, road_edge);
- reportOffsetOver = false;
- }
-
- if (distanceToStart > CHECK_STAGE_DISTANCE) {
- DEBUG("澶嶄綅杈硅窛鍋忕Щ閲�");
- startPoint = car->basePoint;
- edgeDistance = DistanceOf(car->basePoint, road_edge);
- reportOffsetOver = false;
- }
+ //////////////////////////////////////////////
+ startPoint = car->basePoint;
+ edgeDistance = dis2roadEdge;
+ reportOffsetOver = false;
}
- if (ExitSonArea(index, RoadMapList, car)) {
+ if (distanceToStart > CHECK_STAGE_DISTANCE) {
+ DEBUG("澶嶄綅杈硅窛鍋忕Щ閲�");
+ startPoint = car->basePoint;
+ edgeDistance = dis2roadEdge;
+ reportOffsetOver = false;
+ distanceToStartSum += distanceToStart;
+ distanceToStart = 0;
+ }
+
+ if (distanceToStart + distanceToStartSum > 150) {
DEBUG("绂诲紑鐩寸嚎琛岄┒鍖哄煙");
return -1;
}
+ return 1;
+}
- return index;
+static double CalcDistance2Edge(road_t &road, const car_model *car)
+{
+ PointF vp;
+ bool get_vp = false;
+ double distance = 0;
+
+ // 妫�娴嬮亾璺竟缂樼嚎
+ for (int i = 0; i < road.leftEdge.size(); ++i) {
+ PointF p1, p2;
+ Line edge;
+
+ p1 = road.leftEdge[i].points[0];
+ for (int j = 1; j < road.leftEdge[i].points.size(); ++j) {
+ p2 = road.leftEdge[i].points[j];
+ MakeLine(&edge, &p1, &p2);
+
+ if (VerticalPointOnLine(car->basePoint, edge, vp)) {
+ get_vp = true;
+ goto FIND_VP_END;
+ }
+
+ p1 = p2;
+ }
+ }
+
+FIND_VP_END:
+ if (get_vp) {
+ distance = DistanceOf(car->basePoint, vp);
+ } else {
+ // 娌℃湁鎵惧埌鍖归厤绾跨锛屾寜鏈�灏忚窛绂婚《鐐硅绠�
+ distance = 100;
+ for (int i = 0; i < road.leftEdge.size(); ++i) {
+ for (int j = 0; j < road.leftEdge[i].points.size(); ++j) {
+ double x;
+ if (distance > (x = DistanceOf(car->basePoint, road.leftEdge[i].points[j]))) {
+ distance = x;
+ }
+ }
+ }
+ }
+
+ return distance;
}
diff --git a/lib/src/main/cpp/test_items2/drive_straight.h b/lib/src/main/cpp/test_items2/drive_straight.h
index fa6e3b3..d4fd2ba 100644
--- a/lib/src/main/cpp/test_items2/drive_straight.h
+++ b/lib/src/main/cpp/test_items2/drive_straight.h
@@ -7,8 +7,8 @@
#include "../driver_test.h"
-void StartDriveStraightExam(int index, LIST_ROAD_MAP &RoadMapList);
-int ExecuteDriveStraightExam(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car,
+void StartDriveStraightExam(std::string tts);
+int ExecuteDriveStraightExam(road_t &road, const car_model *car,
LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime);
#endif //MYAPPLICATION2_DRIVE_STRAIGHT_H
diff --git a/lib/src/main/cpp/test_items2/operate_gear.cpp b/lib/src/main/cpp/test_items2/operate_gear.cpp
index 1785dfb..f40b9db 100644
--- a/lib/src/main/cpp/test_items2/operate_gear.cpp
+++ b/lib/src/main/cpp/test_items2/operate_gear.cpp
@@ -30,9 +30,7 @@
static void CheckGear(union sigval sig);
-void StartOperateGearExam(int index, LIST_ROAD_MAP &RoadMapList, const struct RtkTime *rtkTime) {
- if (index == -1)
- return;
+void StartOperateGearExam(const struct RtkTime *rtkTime) {
DEBUG("寮�濮嬪姞鍑忔尅鎿嶄綔");
testing = true;
@@ -148,10 +146,9 @@
}
}
-int ExecuteOperateGearExam(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car,
- LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime) {
+int ExecuteOperateGearExam(const struct RtkTime *rtkTime) {
currRtkTime = *rtkTime;
- return testing ? index : -1;
+ return testing ? 1 : -1;
}
void OperateGearTTSDone(int id)
diff --git a/lib/src/main/cpp/test_items2/operate_gear.h b/lib/src/main/cpp/test_items2/operate_gear.h
index a254549..258a573 100644
--- a/lib/src/main/cpp/test_items2/operate_gear.h
+++ b/lib/src/main/cpp/test_items2/operate_gear.h
@@ -7,9 +7,8 @@
#include "../driver_test.h"
-void StartOperateGearExam(int index, LIST_ROAD_MAP &RoadMapList, const struct RtkTime *rtkTime);
-int ExecuteOperateGearExam(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car,
- LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime);
+void StartOperateGearExam(const struct RtkTime *rtkTime);
+int ExecuteOperateGearExam(const struct RtkTime *rtkTime);
void OperateGearTTSDone(int id);
void TerminateOperateGearExam(void);
diff --git a/lib/src/main/cpp/test_items2/road_exam.cpp b/lib/src/main/cpp/test_items2/road_exam.cpp
index f712b10..a682012 100644
--- a/lib/src/main/cpp/test_items2/road_exam.cpp
+++ b/lib/src/main/cpp/test_items2/road_exam.cpp
@@ -89,7 +89,8 @@
int road;
int separate;
int lane;
-} CarOnLane;
+} CurrentLane;
+static bool laneChanging;
static const int MAX_ENGINE_RPM = 2500;
static const double START_CAR_MOVE_DISTANCE = 10.0;
@@ -100,6 +101,8 @@
static const uint32_t CHANGE_ROAD_MIN_INTERVAL = D_SEC(10);
static const uint32_t CRASH_DOTTED_LINE_TIMEOUT = D_SEC(10);
static const uint32_t TURN_SIGNAL_LAMP_ADVANCE = D_SEC(3);
+
+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 int CRL_NONE = 0;
static const int CRL_SEP_DOTTED = 1;
@@ -127,6 +130,7 @@
static int CrashRoadLine(road_t &road, const car_model *car);
static bool LaneIsSame(struct car_on_lane lane1, struct car_on_lane lane2);
static bool LaneIsValid(struct car_on_lane lane);
+static void ArrivedRoadEnd(road_t &road, const car_model *car, LIST_CAR_MODEL &CarModelList);
void InitRoadExam(road_exam_map &RoadMap)
{
@@ -167,7 +171,8 @@
currCarOnRoadIndex = FIND_POSITION;
- CarOnLane.road = CarOnLane.separate = CarOnLane.lane = -1;
+ CurrentLane.road = CurrentLane.separate = CurrentLane.lane = -1;
+ laneChanging = false;
InitThroughSomething(RoadMap);
}
@@ -395,6 +400,16 @@
reportStopCarOnRedArea = false;
DEBUG("鍋滆溅浜� %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
+
+ if (slideNormalDistance) {
+ // 鍚庢粦锛屾墸10鍒�
+ AddExamFault(18, rtkTime);
+ DEBUG("鍚庢粦瓒呰繃10鍘樼背, 浣嗕笉瓒呰繃30鍘樼背");
+ }
+
+ slideNormalDistance = false;
+ slideLongDistance = false;
+ occurSlide = false;
} else if (moveDirect == -1 && prevMoveDirect == 0) {
DEBUG("寮�濮嬪悗婊�");
stopPoint = car->basePoint;
@@ -402,6 +417,7 @@
}
prevMoveDirect = moveDirect;
} else if (moveDirect == 0) {
+ // 鎸佺画鍋滆溅
uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
/*if (tp - stopTimepoint >= STOP_CAR_TIME && !reportStopCarOnRedArea && CrashRedArea(RoadMapList, car)) {
@@ -411,6 +427,7 @@
reportStopCarOnRedArea = true;
}*/
} else if (moveDirect == -1) {
+ // 鎸佺画鍚庢粦
if (occurSlide) {
double slideDistance = DistanceOf(stopPoint, car->basePoint);
@@ -423,18 +440,32 @@
AddExamFault(5, rtkTime);
DEBUG("鍚庢粦瓒呰繃30鍘樼背");
slideLongDistance = true;
+ slideNormalDistance = false;
+ occurSlide = false;
}
}
} else {
- if (slideNormalDistance) {
- // 鍚庢粦锛屾墸10鍒�
- AddExamFault(18, rtkTime);
- DEBUG("鍚庢粦瓒呰繃10鍘樼背, 浣嗕笉瓒呰繃30鍘樼背");
- }
+ // 鍓嶈繘
- slideNormalDistance = false;
- slideLongDistance = false;
- occurSlide = false;
+ }
+
+ // 杞悜鐏鍙�
+ switch (ReadCarStatus(TURN_SIGNAL_LAMP)) {
+ case LEFT_TURN_LIGHT:
+ if (currTurnSignalStatus != LEFT_TURN_LIGHT) {
+ currTurnSignalStatus = LEFT_TURN_LIGHT;
+ Rtk2DriveTimer(turnSignalChangeTime, rtkTime);
+ }
+ break;
+ case RIGHT_TURN_LIGHT:
+ if (currTurnSignalStatus != RIGHT_TURN_LIGHT) {
+ currTurnSignalStatus = RIGHT_TURN_LIGHT;
+ Rtk2DriveTimer(turnSignalChangeTime, rtkTime);
+ }
+ break;
+ default:
+ currTurnSignalStatus = ReadCarStatus(TURN_SIGNAL_LAMP);
+ break;
}
// 妫�娴嬮�氳繃璺彛銆佷汉琛岄亾绛夊尯鍩熸椂锛岄噴鏀惧埞杞︽垨鍑忛��
@@ -563,32 +594,174 @@
}
}
+ // 妫�娴嬪帇绾跨姸鎬�
+ bool crashRedLineNow = false;
+ bool crashGreenLineNow = false;
+
if (currExamMapIndex >= 0) {
int crl = CrashRoadLine(RoadMap.roads[currExamMapIndex], car);
if (crl == CRL_NONE) {
- DEBUG("浠�涔堥兘娌″帇");
+// DEBUG("浠�涔堥兘娌″帇");
} else if (crl == CRL_SEP_DOTTED) {
- DEBUG("鍘嬪垎閬撹櫄绾�");
+// DEBUG("鍘嬪垎閬撹櫄绾�");
+ crashGreenLineNow = true;
} else if (crl == CRL_SEP_SOLID) {
- DEBUG("鍘嬪垎閬撳疄绾�");
+// DEBUG("鍘嬪垎閬撳疄绾�");
+ crashRedLineNow = true;
} else if (crl == CRL_EDGE_DOTTED) {
- DEBUG("鍘嬭竟娌胯櫄绾�");
+// DEBUG("鍘嬭竟娌胯櫄绾�");
+ crashGreenLineNow = true;
} else if (crl == CRL_EDGE_SOLID) {
- DEBUG("鍘嬭竟娌垮疄绾�");
+// DEBUG("鍘嬭竟娌垮疄绾�");
+ crashRedLineNow = true;
}
- if (crl != CRL_SEP_DOTTED || crl != CRL_SEP_SOLID) {
- struct car_on_lane lane;
- UpdateLane(lane, RoadMap.roads[currExamMapIndex], car);
- if (!LaneIsSame(lane, CarOnLane)) {
- if (LaneIsValid(CarOnLane)) {
- // 杞﹂亾鍙樻崲
- DEBUG("鍙樻洿杞﹂亾");
+ struct car_on_lane lane;
+ if (UpdateLane(lane, RoadMap.roads[currExamMapIndex], car)) {
+
+ if (lane.road == CurrentLane.road && lane.separate == CurrentLane.separate &&
+ lane.lane == CurrentLane.lane) {
+ laneChanging = false;
+ }
+
+ if (lane.road == CurrentLane.road && lane.separate == CurrentLane.separate &&
+ lane.lane != CurrentLane.lane) {
+ if (crl == CRL_SEP_DOTTED) {
+ // 鍙橀亾杩涜涓�
+ if (!laneChanging) {
+ laneChanging = true;
+ DEBUG("鍙戠敓鍙橀亾");
+ // 姣旇緝涓婃璺ㄧ嚎鏃堕棿
+ if (crashGreenCmpTime.hour >= 0) {
+ uint32_t diff = TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss,
+ rtkTime->mss * 10,
+ crashGreenCmpTime.hour,
+ crashGreenCmpTime.min,
+ 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);
+ }
+ }
+
+ // 妫�鏌ュ彉閬撳墠锛屾槸鍚︽彁鍓嶈浆鍚戠伅
+ if (lane.lane < CurrentLane.lane) {
+ // 鍚戝乏渚у彉閬�
+ DEBUG("鍚戝乏渚у彉閬�");
+ if (currTurnSignalStatus != LEFT_TURN_LIGHT) {
+ DEBUG("鍙樿皟鏈墦鐏�!!");
+ // 娌℃墦鐏紝涓嶅悎鏍�
+ ReportTurnSignalError(13, rtkTime);
+ } else if (TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss,
+ rtkTime->mss * 10,
+ turnSignalChangeTime.hour,
+ turnSignalChangeTime.min,
+ turnSignalChangeTime.sec,
+ turnSignalChangeTime.msec * 10) <
+ TURN_SIGNAL_LAMP_ADVANCE) {
+ if (!reportTurnSignalError) {
+ DEBUG("杞悜鐏椂闂翠笉瓒�");
+ // 涓嶈冻3绉掞紝涓嶅悎鏍�
+ reportTurnSignalError = true;
+ ReportTurnSignalError(14, rtkTime);
+ }
+ }
+ } else {
+ // 鍚戝彸渚у彉閬�
+ DEBUG("鍚戝彸渚у彉閬�");
+ if (currTurnSignalStatus != RIGHT_TURN_LIGHT) {
+ DEBUG("鍙樿皟鏈墦鐏�!!");
+ // 娌℃墦鐏紝涓嶅悎鏍�
+ ReportTurnSignalError(13, rtkTime);
+ } else if (TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss,
+ rtkTime->mss * 10,
+ turnSignalChangeTime.hour,
+ turnSignalChangeTime.min,
+ turnSignalChangeTime.sec,
+ turnSignalChangeTime.msec * 10) <
+ TURN_SIGNAL_LAMP_ADVANCE) {
+ if (!reportTurnSignalError) {
+ DEBUG("杞悜鐏椂闂翠笉瓒�");
+ // 涓嶈冻3绉掞紝涓嶅悎鏍�
+ reportTurnSignalError = true;
+ ReportTurnSignalError(14, rtkTime);
+ }
+ }
+ }
+ }
+ } else {
+ // 鍙橀亾瀹屾垚
+ DEBUG("鍙橀亾瀹屾垚");
+ CurrentLane = lane;
+ laneChanging = false;
+
+ // 璁板綍鏈鍙橀亾鏃堕棿鐐�
+ Rtk2DriveTimer(crashGreenCmpTime, rtkTime);
}
- CarOnLane = lane;
+ }
+
+ if (lane.road != CurrentLane.road || lane.separate != CurrentLane.separate) {
+ // 璺垨娈靛彉鏇达紝鎾ら攢鍙橀亾璺熻釜
+ DEBUG("============== 璺垨娈靛彉鏇� CURR %d, %d NEW %d, %d", CurrentLane.road,
+ CurrentLane.separate,
+ lane.road, lane.separate);
+ CurrentLane = lane;
+ laneChanging = false;
}
}
+ }
+
+ // 鎾炵孩绾�
+ if (crashRedLineNow) {
+ 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;
+ }
+ } else {
+ occurCrashRedLine = false;
+ }
+
+ // 鍘嬭櫄绾�
+ if (crashGreenLineNow) {
+ // 鍘嬭櫄绾�
+ if (moveDirect != 0) {
+ if (checkCrashGreenTimeout == 0) {
+ checkCrashGreenTimeout = 1;
+ Rtk2DriveTimer(crashGreenRunTime, rtkTime); // 杩愬姩涓帇铏氱嚎鐨勫紑濮嬫椂闂寸偣
+ } else if (checkCrashGreenTimeout == 1) {
+ uint32_t diff = TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
+ 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);
+ }
+ }
+ } else {
+ // 鍋滆溅灏变笉璁℃椂浜�
+ checkCrashGreenTimeout = 0;
+ }
+
+ // 妫�娴嬪綋鍓嶈溅杈嗕簬铏氱嚎鐨勪綅缃紝鍋氬彉閬撴娴�;
+ // 妫�娴嬫槸鍚�3绉掑墠鏈夊紑鍚搴斾箣杞悜鐏�
+ if (!occurCrashGreenLine) {
+ occurCrashGreenLine = true;
+ // 璁板綍寮�濮嬪帇绾跨殑鏃堕棿锛屼笉纭畾鏄惁鏈夊彉閬撴剰鍥撅紝寰呯‘璁ゅ彉閬撳悗鍐嶅鐞嗕箣
+ Rtk2DriveTimer(crashGreenStartTime, rtkTime);
+ turnSignalStatusWhenCrashGreenLine = currTurnSignalStatus;
+ }
+ } else {
+ // 涓嶅啀鍘嬭櫄绾�
+ occurCrashGreenLine = false;
+ checkCrashGreenTimeout = 0;
}
}
@@ -636,6 +809,8 @@
rightExt = true;
MakeLine(&rightExtLine, &car->carXY[car->axial[AXIAL_FRONT]], &vp);
goto RIGHT_EXT_CMP;
+ } else {
+ DEBUG("鍙充晶涓嶅瀭鐐� %d p1(%f,%f) p2(%f,%f) (%f,%f)", j, p1.X, p1.Y, p2.X, p2.Y, vp.X, vp.Y);
}
p1 = p2;
}
@@ -643,6 +818,7 @@
RIGHT_EXT_CMP:
if (!leftExt || !rightExt) {
+ DEBUG("宸﹀彸杈圭晫涓嶅尮閰�");
return false;
}
@@ -669,20 +845,20 @@
orthogonal.insert(pair<int, int>(j, 1));
orthogonalInSegment = true;
intersection = true;
- DEBUG("鍒嗛亾绾� %d 宸︽浜�", j);
+// DEBUG("鍒嗛亾绾� %d 宸︽浜�", j);
break;
} else if (IntersectionOf(rightExtLine, sep) == GM_Intersection) {
orthogonal.insert(pair<int, int>(j, 2));
orthogonalInSegment = true;
intersection = true;
- DEBUG("鍒嗛亾绾� %d 鍙虫浜�", j);
+// DEBUG("鍒嗛亾绾� %d 鍙虫浜�", j);
break;
}
p1 = p2;
}
}
}
- DEBUG("鐩爣 %d 褰撳墠 %d", road.separate[i].lines.size(), orthogonal.size());
+// DEBUG("鐩爣 %d 褰撳墠 %d", road.separate[i].lines.size(), orthogonal.size());
if (orthogonal.size() > 0) {
if (orthogonal.size() == road.separate[i].lines.size()) {
@@ -696,7 +872,7 @@
lane.separate = i;
lane.lane = itx->first;
- DEBUG("璺� %d 娈� %d 杞﹂亾 %d", lane.road, lane.separate, lane.lane);
+// DEBUG("璺� %d 娈� %d 杞﹂亾 %d", lane.road, lane.separate, lane.lane);
break;
}
}
@@ -706,16 +882,18 @@
lane.separate = i;
lane.lane = orthogonal.size();
- DEBUG("璺� %d 娈� %d 杞﹂亾 %d", lane.road, lane.separate, lane.lane);
+// DEBUG("璺� %d 娈� %d 杞﹂亾 %d", lane.road, lane.separate, lane.lane);
}
out = lane;
return true;
} else {
// 涓嶅畬鍏ㄦ浜わ紝鐩存帴閫�鍑�
}
+ DEBUG("鍒嗛亾绾块暱鐭笉鍚岋紝閫�鍑�");
return false;
}
}
+ DEBUG("娈靛尮閰嶅け璐�");
return false;
}
@@ -800,12 +978,12 @@
// 鍘嬪疄绾�
return CRL_SEP_SOLID;
} else if (road.separate[i].lines[j][k].character == LINE_HALF_SOLID_LEFT) {
- if (LaneIsValid(CarOnLane) && CarOnLane.lane <= j) {
+ if (LaneIsValid(CurrentLane) && CurrentLane.lane <= j) {
return CRL_SEP_SOLID;
}
return CRL_SEP_DOTTED;
} else if (road.separate[i].lines[j][k].character == LINE_HALF_SOLID_RIGHT) {
- if (LaneIsValid(CarOnLane) && CarOnLane.lane > j) {
+ if (LaneIsValid(CurrentLane) && CurrentLane.lane > j) {
return CRL_SEP_SOLID;
}
return CRL_SEP_DOTTED;
@@ -1164,11 +1342,11 @@
RoadMapList[currExamMapIndex].type <= TURN_AROUND_MAP) {
StartThroughExam(currExamMapIndex, RoadMapList);
} else if (RoadMapList[currExamMapIndex].type == DRIVE_STRAIGHT_MAP) {
- StartDriveStraightExam(currExamMapIndex, RoadMapList);
+
} else if (RoadMapList[currExamMapIndex].type == STOP_CAR_MAP) {
- StartStopCarExam(currExamMapIndex, RoadMapList);
+
} else if (RoadMapList[currExamMapIndex].type == OP_GEAER_MAP) {
- StartOperateGearExam(currExamMapIndex, RoadMapList, rtkTime);
+
}
}
} else if (startCar == START_CAR_DONE) {
@@ -1179,14 +1357,11 @@
CarModelList, speed, moveDirect, rtkTime);
}
else if (RoadMapList[currExamMapIndex].type == DRIVE_STRAIGHT_MAP) {
- currExamMapIndex = ExecuteDriveStraightExam(currExamMapIndex, RoadMapList, car,
- CarModelList, speed, moveDirect, rtkTime);
+
} else if (RoadMapList[currExamMapIndex].type == STOP_CAR_MAP) {
- currExamMapIndex = ExecuteStopCarExam(currExamMapIndex, RoadMapList, car,
- CarModelList, speed, moveDirect, rtkTime);
+
} else if (RoadMapList[currExamMapIndex].type == OP_GEAER_MAP) {
- currExamMapIndex = ExecuteOperateGearExam(currExamMapIndex, RoadMapList, car,
- CarModelList, speed, moveDirect, rtkTime);
+
}
if (currExamMapIndex == -1) {
@@ -1636,6 +1811,29 @@
return px;
}
+static void ArrivedRoadEnd(road_t &road, const car_model *car, LIST_CAR_MODEL &CarModelList)
+{
+ // 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] ], NEXT_ROAD_TIP, yaw);
+ Line extLine;
+
+ MakeLine(&extLine, &car->carXY[ car->axial[AXIAL_FRONT] ], &extPoint);
+
+ if (IntersectionOf(extLine, road.stopLine) == GM_Intersection &&
+ IntersectionOfLine(extPoint, road.stopLine) == -1) {
+ if (DistanceOf(extPoint, road.stopLine) > 1.0 && !road.arrivedTail) {
+ // 鎺ヨ繎璺彛鍚庯紝瑕佹鏌ヨ溅杈嗘槸鍚﹁繘鍏ラ敊璇溅閬�
+ road.arrivedTail = true;
+ if (!road.tts.empty())
+ PlayTTS(road.tts.c_str());
+ }
+ } else if (road.arrivedTail) {
+ road.arrivedTail = false;
+ }
+}
+
#if 0
typedef struct {
diff --git a/lib/src/main/cpp/test_items2/stop_car.cpp b/lib/src/main/cpp/test_items2/stop_car.cpp
index 4e93662..514b2e4 100644
--- a/lib/src/main/cpp/test_items2/stop_car.cpp
+++ b/lib/src/main/cpp/test_items2/stop_car.cpp
@@ -33,12 +33,8 @@
static void PlayTTSTimeout(union sigval sig);
-void StartStopCarExam(int index, LIST_ROAD_MAP &RoadMapList) {
- if (index == -1)
- return;
-
- DEBUG("杩涘叆闈犺竟鍋滆溅鍦板浘 index = %d id = %d item = %d", index, RoadMapList[index].id, RoadMapList[index].type);
-
+void StartStopCarExam(std::string tts) {
+ DEBUG("闈犺竟鍋滆溅");
ttsPlayEnd = 0;
moveDistance = 0;
prevMoveDirect = 0;
@@ -49,8 +45,8 @@
doorNotClose = false;
checkRoadDistance = false;
- if (!RoadMapList[index].tts.empty()) {
- examTtsSeq = PlayTTS(RoadMapList[index].tts.c_str());
+ if (!tts.empty()) {
+ examTtsSeq = PlayTTS(tts.c_str());
} else {
examTtsSeq = PlayTTS("璇烽潬杈瑰仠杞�");
}
@@ -73,7 +69,7 @@
AppTimer_delete(PlayTTSTimeout);
}
-int ExecuteStopCarExam(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car,
+int ExecuteStopCarExam(int index, road_t &road, const car_model *car,
LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime) {
if (ttsPlayEnd == 1) {
ttsPlayEnd = 2;
@@ -114,42 +110,62 @@
if (tp - stopTimepoint >= STOP_CAR_TIME && !checkRoadDistance) {
// 鍋滆溅瓒�2绉掞紝寮�濮嬪垽鏂�
DEBUG("妫�娴嬪拰璺竟鐨勮窛绂�");
- PointF pc;
+ PointF pc, vp;
+ bool get_vp = false;
+ double dis2roadEdge = 0;
checkRoadDistance = true;
-
+ // 鍓嶅悗杞殑涓偣
pc.X = (car->carXY[car->right_front_tire[TIRE_OUTSIDE]].X + car->carXY[car->right_rear_tire[TIRE_OUTSIDE]].X) / 2;
pc.Y = (car->carXY[car->right_front_tire[TIRE_OUTSIDE]].Y + car->carXY[car->right_rear_tire[TIRE_OUTSIDE]].Y) / 2;
// 妫�娴嬮亾璺竟缂樼嚎
- for (int i = 0; i < RoadMapList[index].roadEdgeLineNum; ++i) {
- PointF p1, p2, pv;
+ for (int i = 0; i < road.rightEdge.size(); ++i) {
+ PointF p1, p2;
+ Line edge;
- p1 = RoadMapList[index].roadEdgeLine[i].point[0];
- for (int j = 1; j < RoadMapList[index].roadEdgeLine[i].num; ++j) {
- p2 = RoadMapList[index].roadEdgeLine[i].point[j];
- pv = GetVerticalPoint(p1, p2, pc);
+ p1 = road.rightEdge[i].points[0];
+ for (int j = 1; j < road.rightEdge[i].points.size(); ++j) {
+ p2 = road.rightEdge[i].points[j];
+ MakeLine(&edge, &p1, &p2);
- if (isEqual2(pv.X, MIN(p1.X, p2.X)) || isEqual2(pv.X, MAX(p1.X, p2.X)) ||
- (pv.X > MIN(p1.X, p2.X) && pv.X < MAX(p1.X, p2.X))) {
- double dis2roadEdge = DistanceOf(pc, pv);
- DEBUG("鍋滆溅璺濊矾杈硅窛绂� %f", dis2roadEdge);
-
- if (dis2roadEdge > DISTANCE_TO_ROAD_EDGE_1) {
- DEBUG("鍋滆溅瓒呭嚭璺竟0.5绫�");
- // 鍋滆溅璺濈瓒呰繃50鍘樼背锛屼笉鍚堟牸
- AddExamFault(36, rtkTime);
- } else if (dis2roadEdge > DISTANCE_TO_ROAD_EDGE_2) {
- DEBUG("鍋滆溅瓒呭嚭璺竟0.3绫�");
- // 鍋滆溅璺濈瓒呰繃30鍘樼背锛屾墸10鍒�
- AddExamFault(37, rtkTime);
- }
+ if (VerticalPointOnLine(pc, edge, vp)) {
+ get_vp = true;
+ goto FIND_VP_END;
}
p1 = p2;
}
}
+
+FIND_VP_END:
+ if (get_vp) {
+ dis2roadEdge = DistanceOf(pc, vp);
+ } else {
+ // 娌℃湁鎵惧埌鍖归厤绾跨锛屾寜鏈�灏忚窛绂婚《鐐硅绠�
+ dis2roadEdge = 100;
+ for (int i = 0; i < road.rightEdge.size(); ++i) {
+ for (int j = 0; j < road.rightEdge[i].points.size(); ++j) {
+ double dis;
+ if (dis2roadEdge > (dis = DistanceOf(pc, road.rightEdge[i].points[j]))) {
+ dis2roadEdge = dis;
+ }
+ }
+ }
+ }
+
+ DEBUG("鍋滆溅璺濊矾杈硅窛绂� %f", dis2roadEdge);
+
+ if (dis2roadEdge > DISTANCE_TO_ROAD_EDGE_1) {
+ DEBUG("鍋滆溅瓒呭嚭璺竟0.5绫�");
+ // 鍋滆溅璺濈瓒呰繃50鍘樼背锛屼笉鍚堟牸
+ AddExamFault(36, rtkTime);
+ } else if (dis2roadEdge > DISTANCE_TO_ROAD_EDGE_2) {
+ DEBUG("鍋滆溅瓒呭嚭璺竟0.3绫�");
+ // 鍋滆溅璺濈瓒呰繃30鍘樼背锛屾墸10鍒�
+ AddExamFault(37, rtkTime);
+ }
}
}
diff --git a/lib/src/main/cpp/test_items2/stop_car.h b/lib/src/main/cpp/test_items2/stop_car.h
index afaf176..4b3f622 100644
--- a/lib/src/main/cpp/test_items2/stop_car.h
+++ b/lib/src/main/cpp/test_items2/stop_car.h
@@ -7,10 +7,10 @@
#include "../driver_test.h"
-void StartStopCarExam(int index, LIST_ROAD_MAP &RoadMapList);
-void StopCarTTSDone(int id);
-int ExecuteStopCarExam(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car,
+void StartStopCarExam(std::string tts);
+int ExecuteStopCarExam(int index, road_t &road, const car_model *car,
LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime);
void TerminateStopCarExam(void);
+void StopCarTTSDone(int id);
#endif //MYAPPLICATION2_STOP_CAR_H
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 &&
--
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