From 7ad5b81283c39e66ba2ca84314e283f277fc77e0 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期五, 03 四月 2020 11:39:17 +0800
Subject: [PATCH] 坐标
---
lib/src/main/cpp/Geometry.h | 1
lib/src/main/cpp/test_items/park_bottom.cpp | 4 +-
lib/src/main/cpp/test_items2/drive_straight.cpp | 2
lib/src/main/cpp/test_items/park_edge.cpp | 12 +++--
lib/src/main/cpp/test_items/stop_and_start.cpp | 14 +++++--
lib/src/main/aidl/com/anyun/exam/lib/IListenerInterface.aidl | 2
lib/src/main/cpp/Geometry.cpp | 68 ++++++++++++++++++++++++++++++++++
lib/src/main/cpp/test_items/area_exam.cpp | 5 ++
lib/src/main/cpp/test_items/area_exam.h | 8 ++++
lib/src/main/cpp/CMakeLists.txt | 1
10 files changed, 104 insertions(+), 13 deletions(-)
diff --git a/lib/src/main/aidl/com/anyun/exam/lib/IListenerInterface.aidl b/lib/src/main/aidl/com/anyun/exam/lib/IListenerInterface.aidl
index 421c6f1..97da4e7 100644
--- a/lib/src/main/aidl/com/anyun/exam/lib/IListenerInterface.aidl
+++ b/lib/src/main/aidl/com/anyun/exam/lib/IListenerInterface.aidl
@@ -5,7 +5,7 @@
interface IListenerInterface {
/**
- * 杩滅▼鏈嶅姟缁橲DK鐨勫洖璋冩秷鎭紝涓嶅澶栨彁渚涚粰APP瀹㈡埛绔�
+ *
* Demonstrates some basic types that you can use as parameters
* and return values in AIDL.
*/
diff --git a/lib/src/main/cpp/CMakeLists.txt b/lib/src/main/cpp/CMakeLists.txt
index cb10f90..368252d 100644
--- a/lib/src/main/cpp/CMakeLists.txt
+++ b/lib/src/main/cpp/CMakeLists.txt
@@ -35,6 +35,7 @@
test_items/stop_and_start.cpp
test_items/driving_curve.cpp
test_items/turn_a90.cpp
+ test_items/area_exam.cpp
test_items2/common_check.cpp
test_items2/dummy_light.cpp
diff --git a/lib/src/main/cpp/Geometry.cpp b/lib/src/main/cpp/Geometry.cpp
index 01e15cd..0a43ae1 100644
--- a/lib/src/main/cpp/Geometry.cpp
+++ b/lib/src/main/cpp/Geometry.cpp
@@ -10,6 +10,7 @@
#include <jni.h>
#include <malloc.h>
#include <initializer_list>
+#include <cctype>
#include "jni_log.h"
@@ -474,3 +475,70 @@
return p4;
}
+
+/****************************************************************
+ * p3
+ * | 'L'
+ * |
+ * p1------------------>p2
+ * |
+ * | 'R'
+ * p3
+ * @param p1
+ * @param p2
+ * @param L
+ * @param dir
+ * @return
+ */
+PointF Calc3Point(PointF p1, PointF p2, double L, char dir)
+{
+ PointF p3;
+
+ dir = toupper(dir);
+
+ if (dir != 'L' && dir != 'R')
+ dir = 'L';
+
+ if (isEqual(p1.X, p2.X)) {
+ p3.Y = p2.Y;
+ if (p2.Y > p1.Y) {
+ p3.X = p2.X + ((dir == 'L')? -L:L);
+ } else {
+ p3.X = p2.X + ((dir=='L')?L:-L);
+ }
+ return p3;
+ }
+ if (isEqual(p1.Y, p2.Y)) {
+ p3.X = p2.X;
+ if (p2.X > p1.X) {
+ p3.Y = p2.Y + ((dir == 'L')? L:-L);
+ } else {
+ p3.Y = p2.Y + ((dir == 'L')? -L:L);
+ }
+ return p3;
+ }
+
+ double k = (p2.Y - p1.Y) / (p2.X - p1.X);
+ double b = p1.Y - k*p1.X;
+
+ double A = 1 + pow(k, 2);
+ double B = 2*k*(b - p2.Y) - 2*p2.X;
+ double C = pow(b - p2.Y, 2) + pow(p2.X, 2) - pow(L,2);
+
+ double x3, y3;
+
+
+ if (p1.X < p2.X) {
+ x3 = (- B - sqrt(pow(B, 2) - 4*A*C))/(2*A);
+ } else {
+ x3 = (- B + sqrt(pow(B, 2) - 4*A*C))/(2*A);
+ }
+ y3 = k * x3 + b;
+
+ p3.X = x3;
+ p3.Y = y3;
+
+ p3 = rotatePoint(p3, p2, (dir == 'L') ? 270 : 90);
+
+ return p3;
+}
diff --git a/lib/src/main/cpp/Geometry.h b/lib/src/main/cpp/Geometry.h
index 540cc87..aacdb54 100644
--- a/lib/src/main/cpp/Geometry.h
+++ b/lib/src/main/cpp/Geometry.h
@@ -58,5 +58,6 @@
bool OutsidePolygon(const Polygon *t1, const Polygon *t2);
int IntersectionOfLine(PointF p1, PointF p2, PointF p3);
PointF GetVerticalPoint(PointF p1, PointF p2, PointF p3);
+PointF Calc3Point(PointF p1, PointF p2, double L, char dir);
#endif //GUI_GEOMETRY_H
diff --git a/lib/src/main/cpp/test_items/area_exam.cpp b/lib/src/main/cpp/test_items/area_exam.cpp
new file mode 100644
index 0000000..8516dd1
--- /dev/null
+++ b/lib/src/main/cpp/test_items/area_exam.cpp
@@ -0,0 +1,5 @@
+//
+// Created by YY on 2020/4/3.
+//
+
+#include "area_exam.h"
diff --git a/lib/src/main/cpp/test_items/area_exam.h b/lib/src/main/cpp/test_items/area_exam.h
new file mode 100644
index 0000000..a562acf
--- /dev/null
+++ b/lib/src/main/cpp/test_items/area_exam.h
@@ -0,0 +1,8 @@
+//
+// Created by YY on 2020/4/3.
+//
+
+#ifndef MYAPPLICATION2_AREA_EXAM_H
+#define MYAPPLICATION2_AREA_EXAM_H
+
+#endif //MYAPPLICATION2_AREA_EXAM_H
diff --git a/lib/src/main/cpp/test_items/park_bottom.cpp b/lib/src/main/cpp/test_items/park_bottom.cpp
index 3a59252..e200125 100644
--- a/lib/src/main/cpp/test_items/park_bottom.cpp
+++ b/lib/src/main/cpp/test_items/park_bottom.cpp
@@ -90,7 +90,7 @@
if (CrashRedLine(map, car, who)) {
- if (!occurCrashRedLine) {
+ if (!occurCrashRedLine && reverseCar) {
occurCrashRedLine = true;
// 杞﹁韩鍑虹嚎锛屼笉鍚堟牸
AddExamFault(7, rtkTime);
@@ -157,7 +157,7 @@
if (moveDirect == storeMoveDirectBeforeStop) {
// 鍚屾柟鍚戝啀鍚姩锛岀户缁垽鏂槸鍚﹀仠杞﹁秴鏃�
- if (tp - stopTimepoint >= STOP_CAR_TIME) {
+ if (tp - stopTimepoint >= STOP_CAR_TIME && reverseCar) {
// 鍋滆溅瓒�2绉掞紝姣忔鎵�5鍒�
AddExamFault(11, rtkTime);
DEBUG("涓�斿仠杞�");
diff --git a/lib/src/main/cpp/test_items/park_edge.cpp b/lib/src/main/cpp/test_items/park_edge.cpp
index 921ce34..6836600 100644
--- a/lib/src/main/cpp/test_items/park_edge.cpp
+++ b/lib/src/main/cpp/test_items/park_edge.cpp
@@ -54,6 +54,8 @@
parkSuccess = false;
parkStatus = 0;
occurMoveBack = false;
+
+ // 浠呭綋鍙戠敓鍊掕溅锛屾墠鎰忓懗鐫�椤圭洰寮�濮�
if (moveStatus == -1) {
occurMoveBack = true;
moveBackTimePoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
@@ -63,23 +65,23 @@
int TestParkEdge(const Polygon *map, const car_model *car, const car_model *carPrev, double speed, int moveStatus, const struct RtkTime *rtkTime)
{
if (CrashRedLine1(map, car)) {
- if (!occurCrashRedLine1) {
+ if (!occurCrashRedLine1 && occurMoveBack) {
// 杞﹁疆鍘嬭竟绾匡紝姣忔鎵�10鍒�
AddExamFault(23, rtkTime);
DEBUG("杞﹁疆鍘嬭竟绾�");
+ occurCrashRedLine1 = true;
}
- occurCrashRedLine1 = true;
} else {
occurCrashRedLine1 = false;
}
if (CrashRedLine2(map, car)) {
- if (!occurCrashRedLine2) {
+ if (!occurCrashRedLine2 && occurMoveBack) {
// 杞﹁韩鍘嬪簱浣嶇嚎锛屾瘡娆℃墸10鍒�
AddExamFault(24, rtkTime);
DEBUG("杞﹁韩鍘嬪簱浣嶇嚎");
+ occurCrashRedLine2 = true;
}
- occurCrashRedLine2 = true;
} else {
occurCrashRedLine2 = false;
}
@@ -121,7 +123,7 @@
if (moveStatus == storeMoveStatusBeforeStop) {
// 鍚屾柟鍚戝啀鍚姩锛岀户缁垽鏂槸鍚﹀仠杞﹁秴鏃�
- if (tp - stopTimepoint >= STOP_CAR_TIME) {
+ if (tp - stopTimepoint >= STOP_CAR_TIME && occurMoveBack) {
// 鍋滆溅瓒�2绉掞紝姣忔鎵�5鍒�
AddExamFault(26, rtkTime);
DEBUG("鍋滆溅瓒呮椂");
diff --git a/lib/src/main/cpp/test_items/stop_and_start.cpp b/lib/src/main/cpp/test_items/stop_and_start.cpp
index b57ceec..3b904d6 100644
--- a/lib/src/main/cpp/test_items/stop_and_start.cpp
+++ b/lib/src/main/cpp/test_items/stop_and_start.cpp
@@ -90,7 +90,7 @@
{
double dis2 = DistanceOfTire2Edge(map, car);
- MA_SendDistance(-1, dis2);
+ MA_SendDistance(DistanceOf(map->point[8], map->point[7]) - dis2, dis2);
}
if (prevMoveDirect != moveDirect) {
@@ -262,7 +262,13 @@
// 鍏ㄨ溅閮介渶涓嶅湪鍦板浘涓�
bool ret = false;
- Polygon carBody;
+ Polygon carBody, map2;
+ PointF vPoint = Calc3Point(map->point[8], map->point[0], DistanceOf(map->point[8], map->point[7]), 'R');
+
+ map2.num = 4;
+ map2.point = (PointF *)malloc(map2.num * sizeof(PointF));
+
+ MakePolygon(&map2, {vPoint, map->point[0], map->point[7], map->point[8]});
carBody.num = car->bodyNum;
carBody.point = (PointF *)malloc(carBody.num * sizeof(PointF));
@@ -270,11 +276,11 @@
carBody.point[i] = car->carXY[car->body[i]];
}
- if (IntersectionOf(&carBody, map) == GM_None) {
+ if (IntersectionOf(&carBody, &map2) == GM_None) {
ret = true;
}
free(carBody.point);
-
+ free(map2.point);
return ret;
}
diff --git a/lib/src/main/cpp/test_items2/drive_straight.cpp b/lib/src/main/cpp/test_items2/drive_straight.cpp
index 8db23e0..5e2b12f 100644
--- a/lib/src/main/cpp/test_items2/drive_straight.cpp
+++ b/lib/src/main/cpp/test_items2/drive_straight.cpp
@@ -49,7 +49,7 @@
double l2 = DistanceOf(car->carXY[car->right_rear_tire[TIRE_OUTSIDE]], road_edge);
- MA_SendDistance(-1, (l1+l2)/2.0);
+ MA_SendDistance(6 - (l1+l2)/2.0, (l1+l2)/2.0);
}
if (!crossStartLine) {
--
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