From bf8e1f4ef4961b32dfa73a0b898f82c20721bf09 Mon Sep 17 00:00:00 2001
From: fctom1215 <fctom1215@outlook.com>
Date: 星期五, 28 八月 2020 08:56:23 +0800
Subject: [PATCH] 坐标
---
lib/src/main/cpp/test_items2/drive_straight.cpp | 2 +-
lib/src/main/cpp/driver_test.cpp | 17 +++++++++++++++++
lib/src/main/cpp/test_items2/overtake.cpp | 2 +-
lib/src/main/cpp/test_items2/car_start.cpp | 10 +++++-----
lib/src/main/cpp/test_items2/through_something.cpp | 5 ++++-
lib/src/main/cpp/test_items2/dummy_light.cpp | 2 +-
lib/src/main/cpp/test_items2/stop_car.cpp | 3 +--
lib/src/main/cpp/test_items2/change_lane.cpp | 2 +-
lib/src/main/cpp/test_items2/operate_gear.cpp | 2 +-
lib/src/main/cpp/rtk_platform/platform.cpp | 2 +-
10 files changed, 33 insertions(+), 14 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index 0b16c3e..08fbfbd 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -96,6 +96,7 @@
static void UpdateCarBodyCoord(struct RtkTime *rtkTime, double azimuth, double pitch, double roll, PointF main_ant, car_model *carModel);
static bool UpdateCarCoord(double &spd, int &mov, int &idx);
+static void PrintObdInfo(struct RtkTime *rtkTime, double speed);
void DriverTestInit(void)
{
@@ -500,6 +501,22 @@
if (ExamStart) {
ExecuteExam(speed, move, azimuth, &rtkTime);
}
+
+ PrintObdInfo(&rtkTime, speed);
+ }
+}
+
+
+
+static void PrintObdInfo(struct RtkTime *rtkTime, double speed) {
+ static struct RtkTime cTime = *rtkTime;
+
+ if (TimeGetDiff(rtkTime, &cTime) >= D_SEC(3)) {
+ cTime = *rtkTime;
+ DEBUG("ENGINE_RPM %d OBD_SPEED %f SPEED %f",
+ ReadCarStatus(ENGINE_RPM),
+ ((double)ReadCarStatus(OBD_SPEED)) / 10.0,
+ speed * 3.6);
}
}
diff --git a/lib/src/main/cpp/rtk_platform/platform.cpp b/lib/src/main/cpp/rtk_platform/platform.cpp
index e63c642..f0dd9a0 100644
--- a/lib/src/main/cpp/rtk_platform/platform.cpp
+++ b/lib/src/main/cpp/rtk_platform/platform.cpp
@@ -464,7 +464,7 @@
sensor.trip = BUILD_UINT32(data[7], data[6], data[5], data[4]);
sensor.tripTime = BUILD_UINT32(data[11], data[10], data[9], data[8]);
sensor.cellVolt = (double)(BUILD_UINT16(data[13], data[12])) / 10.0;
- sensor.speed = (double)(BUILD_UINT16(data[15], data[14])) / 10.0;
+ sensor.speed = BUILD_UINT16(data[15], data[14]);
sensor.engine = BUILD_UINT16(data[17], data[16]);
sensor.sas = (short)BUILD_UINT16(data[19], data[18]);
sensor.key = data[x++];
diff --git a/lib/src/main/cpp/test_items2/car_start.cpp b/lib/src/main/cpp/test_items2/car_start.cpp
index 07a9916..9d0fb35 100644
--- a/lib/src/main/cpp/test_items2/car_start.cpp
+++ b/lib/src/main/cpp/test_items2/car_start.cpp
@@ -11,7 +11,7 @@
#include "../jni_log.h"
#include "../common/apptimer.h"
-#define DEBUG(fmt, args...) LOGD("<car_start> <%s>: " fmt, __func__, ##args)
+#define DEBUG(fmt, args...) LOGD("<road_exam car_start> <%s>: " fmt, __func__, ##args)
static const int MAX_ENGINE_RPM = 2500;
static const double START_CAR_MOVE_DISTANCE = 10.0;
@@ -32,9 +32,9 @@
checkStartCarSignal = false;
checkDoor = false;
handBreakActive = false;
- int id = PlayTTS("璇疯捣姝�", cb);
+ PlayTTS("璇疯捣姝�", cb);
- DEBUG("璇煶寮�濮� %d", id);
+ DEBUG("杞﹁締璧锋");
}
bool TestCarStart(const car_model *car, double speed, int moveDirect, const struct RtkTime *rtkTime)
@@ -42,7 +42,7 @@
car_sensor_value_t sensor;
double moveDistance = ReadOdo() - startCarMoveDistance;
- DEBUG("璧锋琛岄┒璺濈 %f", moveDistance);
+// DEBUG("璧锋琛岄┒璺濈 %f", moveDistance);
if (!checkStartCarSignal && moveDirect == 1) {
checkStartCarSignal = true;
@@ -53,7 +53,7 @@
DEBUG("鍙樿皟鏈墦鐏�!!");
// 娌℃墦鐏紝涓嶅悎鏍�
AddExamFault(13, rtkTime);
- } else if (TimeGetDiff(rtkTime, &sensor.time) >= D_SEC(3)) {
+ } else if (TimeGetDiff(rtkTime, &sensor.time) < D_SEC(3)) {
DEBUG("杞悜鐏椂闂翠笉瓒�");
// 涓嶈冻3绉掞紝涓嶅悎鏍�
AddExamFault(14, rtkTime);
diff --git a/lib/src/main/cpp/test_items2/change_lane.cpp b/lib/src/main/cpp/test_items2/change_lane.cpp
index fde4995..e4d927a 100644
--- a/lib/src/main/cpp/test_items2/change_lane.cpp
+++ b/lib/src/main/cpp/test_items2/change_lane.cpp
@@ -8,7 +8,7 @@
#include "../jni_log.h"
#include "../driver_test.h"
-#define DEBUG(fmt, args...) LOGD("<change_lane> <%s>: " fmt, __func__, ##args)
+#define DEBUG(fmt, args...) LOGD("<road_exam change_lane> <%s>: " fmt, __func__, ##args)
static double maxMoveDistance;
static int originalLane;
diff --git a/lib/src/main/cpp/test_items2/drive_straight.cpp b/lib/src/main/cpp/test_items2/drive_straight.cpp
index 04ec8fa..d6a9db2 100644
--- a/lib/src/main/cpp/test_items2/drive_straight.cpp
+++ b/lib/src/main/cpp/test_items2/drive_straight.cpp
@@ -12,7 +12,7 @@
#include "../test_common/odo_graph.h"
#include <cmath>
-#define DEBUG(fmt, args...) LOGD("<drive_straight> <%s>: " fmt, __func__, ##args)
+#define DEBUG(fmt, args...) LOGD("<road_exam drive_straight> <%s>: " fmt, __func__, ##args)
static const double CHECK_STAGE_DISTANCE = 100.0;
static const double MAX_OFFSET_DISTANCE = 0.3;
diff --git a/lib/src/main/cpp/test_items2/dummy_light.cpp b/lib/src/main/cpp/test_items2/dummy_light.cpp
index 36bc003..dcb3d09 100644
--- a/lib/src/main/cpp/test_items2/dummy_light.cpp
+++ b/lib/src/main/cpp/test_items2/dummy_light.cpp
@@ -9,7 +9,7 @@
#include "../jni_log.h"
#include "../test_common/car_sensor.h"
-#define DEBUG(fmt, args...) LOGD("<dummy_light> <%s>: " fmt, __func__, ##args)
+#define DEBUG(fmt, args...) LOGD("<road_exam dummy_light> <%s>: " fmt, __func__, ##args)
enum {
TTS_NOT_START,
diff --git a/lib/src/main/cpp/test_items2/operate_gear.cpp b/lib/src/main/cpp/test_items2/operate_gear.cpp
index 73de9c3..157d2a7 100644
--- a/lib/src/main/cpp/test_items2/operate_gear.cpp
+++ b/lib/src/main/cpp/test_items2/operate_gear.cpp
@@ -11,7 +11,7 @@
#include "../test_common/odo_graph.h"
#include "road_exam.h"
-#define DEBUG(fmt, args...) LOGD("<operate_gear> <%s>: " fmt, __func__, ##args)
+#define DEBUG(fmt, args...) LOGD("<road_exam operate_gear> <%s>: " fmt, __func__, ##args)
static int expectGear;
static int upDownShift;
diff --git a/lib/src/main/cpp/test_items2/overtake.cpp b/lib/src/main/cpp/test_items2/overtake.cpp
index ad97bce..c756867 100644
--- a/lib/src/main/cpp/test_items2/overtake.cpp
+++ b/lib/src/main/cpp/test_items2/overtake.cpp
@@ -8,7 +8,7 @@
#include "../test_common/odo_graph.h"
#include "../driver_test.h"
-#define DEBUG(fmt, args...) LOGD("<overtake> <%s>: " fmt, __func__, ##args)
+#define DEBUG(fmt, args...) LOGD("<road_exam overtake> <%s>: " fmt, __func__, ##args)
static double maxMoveDistance;
static int setup;
diff --git a/lib/src/main/cpp/test_items2/stop_car.cpp b/lib/src/main/cpp/test_items2/stop_car.cpp
index 2ec36c9..e5fa467 100644
--- a/lib/src/main/cpp/test_items2/stop_car.cpp
+++ b/lib/src/main/cpp/test_items2/stop_car.cpp
@@ -13,7 +13,7 @@
#include "../defs.h"
#include "../test_common/odo_graph.h"
-#define DEBUG(fmt, args...) LOGD("<stop_car> <%s>: " fmt, __func__, ##args)
+#define DEBUG(fmt, args...) LOGD("<road_exam stop_car> <%s>: " fmt, __func__, ##args)
static bool BreakHandbreakReleaseSametime, OpenDoor;
@@ -82,7 +82,6 @@
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);
- return false;
}
setup = 4;
diff --git a/lib/src/main/cpp/test_items2/through_something.cpp b/lib/src/main/cpp/test_items2/through_something.cpp
index 2c18908..09f6318 100644
--- a/lib/src/main/cpp/test_items2/through_something.cpp
+++ b/lib/src/main/cpp/test_items2/through_something.cpp
@@ -14,7 +14,7 @@
#include "road_exam.h"
#include "../utils/xconvert.h"
-#define DEBUG(fmt, args...) LOGD("<through_something> <%s>: " fmt, __func__, ##args)
+#define DEBUG(fmt, args...) LOGD("<road_exam through_something> <%s>: " fmt, __func__, ##args)
using namespace std;
@@ -91,11 +91,13 @@
}
// 璁板綍鍒硅溅
if (dobreak && !(rec & REDUCE_SPEED)) {
+ DEBUG("妫�娴嬪埌璺彛鍒硅溅鍔ㄤ綔");
SetTargetReduceRec(TargetReduceRec, key, rec | REDUCE_SPEED);
}
} else if (distance > 1e-3 && distance < DISTANCE_STOP_CAR_TO_STOP_LINE) {
// 璺彛鍋滆溅瑙傚療
if (moveDirect == 0 && !(rec & STOP_CAR)) {
+ DEBUG("妫�娴嬪埌璺彛鍋滆溅鍔ㄤ綔");
SetTargetReduceRec(TargetReduceRec, key, rec | STOP_CAR);
}
} else if (distance > LASTEST_BREAK_POINT + 5 && rec != NOT_ENTER) {
@@ -126,6 +128,7 @@
}
// 璁板綍鍒硅溅锛屽仠杞�
if (dobreak && !(rec & REDUCE_SPEED)) {
+ DEBUG("妫�娴嬪埌浜鸿閬撶瓑鍒硅溅鍔ㄤ綔");
SetTargetReduceRec(TargetReduceRec2, key, rec | REDUCE_SPEED);
}
} else if (distance1 > LASTEST_BREAK_POINT + 5 && rec != NOT_ENTER) {
--
Gitblit v1.8.0