From c484cbb09d445e2ab30ea011c6d2ffd87202bb26 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期五, 23 十月 2020 18:05:34 +0800
Subject: [PATCH] 添加可用户配置的评判参数。
---
lib/src/main/cpp/test_items/driving_curve.cpp | 4
lib/src/main/cpp/driver_test.cpp | 153 ++++++++++++
lib/src/main/cpp/native-lib.h | 3
lib/src/main/cpp/test_items/stop_and_start.cpp | 21 -
lib/src/main/cpp/test_items2/car_start.cpp | 14
lib/src/main/cpp/test_items2/stop_car.cpp | 24 -
lib/src/main/cpp/rtk_module/rtk.cpp | 2
lib/src/main/cpp/test_items2/change_lane.cpp | 6
lib/src/main/cpp/test_items2/operate_gear.cpp | 8
lib/src/main/cpp/driver_test.h | 77 ++++++
lib/src/main/cpp/test_items/park_bottom.cpp | 7
lib/src/main/cpp/test_items/turn_a90.cpp | 4
lib/src/main/cpp/test_items2/drive_straight.cpp | 13
lib/src/main/cpp/test_items/park_edge.cpp | 6
lib/src/main/cpp/test_items2/overtake.cpp | 6
lib/src/main/cpp/master/comm_if.cpp | 227 ++++++++++++++++++
lib/src/main/cpp/native-lib.cpp | 5
lib/src/main/cpp/test_items2/through_something.cpp | 16
lib/src/main/cpp/test_items2/road_exam.cpp | 75 ++---
lib/src/main/cpp/rtk_platform/platform.cpp | 5
20 files changed, 546 insertions(+), 130 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index fa24fec..2e08710 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -58,6 +58,66 @@
TEST_TYPE_ROAD_CALIBRATE
};
+static const int DEFAULT_START_KEY_HOLD_TIME = D_SEC(2);
+static const int DEFAULT_CURVE_PAUSE_TIME = D_SEC(2);
+static const int DEFAULT_PARK_BOTTOM_PAUSE_TIME = D_SEC(2);
+static const int DEFAULT_PARK_BOTTOM_FINISH_TIME = D_SEC(210);
+static const int DEFAULT_PART_EDGE_PAUSE_TIME = D_SEC(2);
+static const int DEFAULT_PARK_EDGE_FINISH_TIME = D_SEC(90);
+static const int DEFAULT_TURN_A90_PAUSE_TIME = D_SEC(2);
+static const int DEFAULT_RAMP_FINISH_TIME = D_SEC(30);
+static const double DEFAULT_RAMP_STOPPOINT_RED_DISTANCE = 0.5;
+static const double DEFAULT_RAMP_EDGE_YELLOW_DISTANCE = 0.3;
+static const double DEFAULT_RAMP_EDGE_RED_DISTANCE = 0.5;
+static const double DEFAULT_RAMP_SLIDE_YELLOW_DISTANCE = 0.1;
+static const double DEFAULT_RAMP_SLIDE_RED_DISTANCE = 0.3;
+
+static const double DEFAULT_ROAD_SLIDE_YELLOW_DISTANCE = 0.1;
+static const double DEFAULT_ROAD_SLIDE_RED_DISTANCE = 0.3;
+static const int DEFAULT_ROAD_MAX_DISTANCE = 3000;
+static const int DEFAULT_ROAD_MAX_SPEED = 60;
+static const int DEFAULT_GEAR_N_TIME = D_SEC(5);
+static const int DEFAULT_SAME_GEAR_HOLD_TIME = D_SEC(5);
+static const int DEFAULT_GEAR_SPEED_ERROR_MAX_TIME = D_SEC(15);
+static const int DEFAULT_ROAD_PAUSE_TIME = D_SEC(2);
+static const int DEFAULT_CHANGE_LANE_MIN_TIME = D_SEC(10);
+static const int DEFAULT_CRASH_DOTTED_LINE_MAX_TIME = D_SEC(10);
+static const int DEFAULT_TURN_SIGNAL_MIN_ADVANCE = D_SEC(3);
+static const int DEFAULT_START_CAR_MAX_RMP = 2500;
+static const int DEFAULT_START_CAR_DISTANCE = 10;
+static const double DEFAULT_START_CAR_OPEN_DOOR_DISTANCE = 1.0;
+static const char DEFAULT_START_CAR_BEGIN_TTS[] = "璇疯捣姝ワ紝缁х画瀹屾垚鑰冭瘯";
+static const char DEFAULT_START_CAR_END_TTS[] = "璧锋瀹屾垚";
+static const int CHANGE_LANE_MAX_DISTANCE = 100;
+static const char DEFAULT_CHANGE_LANE_BEGIN_TTS[] = "鍓嶆柟璇峰彉鏇磋溅閬�";
+static const char DEFAULT_CHANGE_LANE_END_TTS[] = "鍙橀亾瀹屾垚";
+static const int DEFAULT_SHIFT_MAX_DISTANCE = 120;
+static const int DEFAULT_SHIFT_HOLD_TIME = D_SEC(3);
+static const char DEFAULT_SHIFT_BEGIN_TTS[] = "璇疯繘琛屽姞鍑忔尅浣嶆搷浣�";
+static const char DEFAULT_SHIFT_END_TTS[] = "鍔犲噺鎸′綅瀹屾垚";
+static const char DEFAULT_STRAIGHT_BEGIN_TTS[] = "璇蜂繚鎸佺洿绾胯椹�";
+static const char DEFAULT_STRAIGHT_END_TTS[] = "鐩寸嚎琛岄┒瀹屾垚";
+static const int DEFAULT_STRAIGHT_MAX_DISTANCE = 100;
+static const double DEFAULT_STRAIGHT_MAX_OFFSET = 0.3;
+static const int DEFAULT_OVERTAKE_MAX_DISTANCE = 150;
+static const char DEFAULT_OVERTAKE_BEGIN_TTS[] = "璇疯秴瓒婂墠鏂硅溅杈�";
+static const char DEFAULT_OVERTAKE_END_TTS[] = "瓒呰溅瀹屾垚";
+static const int DEFAULT_STOP_CAR_MAX_DISTANCE = 150;
+static const int DEFAULT_STOP_CAR_OPEN_DOOR_MAX_TIME = D_SEC(15);
+static const double DEFAULT_STOP_CAR_EDGE_RED_DISTANCE = 0.5;
+static const double DEFAULT_STOP_CAR_EDGE_YELLOW_DISTANCE = 0.5;
+static const char DEFAULT_STOP_CAR_BEGIN_TTS[] = "璇烽潬杈瑰仠杞�";
+static const char DEFAULT_STOP_CAR_END_TTS[] = "闈犺竟鍋滆溅瀹屾垚";
+static const double DEFAULT_CROSSING_STOP_VALID_DISTANCE = 3.0;
+static const int DEFAULT_CROSS_SCHOOL_MAX_SPEED = 30;
+static const int DEFAULT_CROSS_BREAK_VALID_DISTANCE = 30;
+
+static const char DEFAULT_CROSSING_GO_STRAIGHT_TTS[] = "鍓嶆柟璺彛鐩磋";
+static const char DEFAULT_CROSSING_TURN_LEFT_TTS[] = "鍓嶆柟璺彛宸﹁浆";
+static const char DEFAULT_CROSSING_TURN_RIGHT_TTS[] = "鍓嶆柟璺彛鍙宠浆";
+static const char DEFAULT_CROSSING_TURN_BACK_TTS[] = "鍓嶆柟閫夋嫨鍚堥�傚湴鐐规帀澶�";
+static const char DEFAULT_CROSSING_TURN_UNKNOWN_TTS[] = "鍓嶆柟璺彛鍚粠鏁欑粌鎸囩ず";
+
static bool ExamStart = false;
static int ExamType;
static bool reportSeatbeltEject;
@@ -82,6 +142,8 @@
static bool engineStart = false;
static bool engineStartTimeout = false;
+exam_param_t examParam;
+
#define MOV_AVG_SIZE 1
#define RTK_BUFFER_SIZE 100
#define CAR_MODEL_CACHE_SIZE 10
@@ -89,6 +151,7 @@
static rtk_info *RtkBuffer = NULL;
static int RtkBufferNum = 0, RtkBufferIn = 0;
+static void SetExamParamDefault(void);
static void EngineStartHold(union sigval sig);
static void ExecuteExam(const struct RtkTime* rtkTime);
static void ExecuteExam(double speed, int move, double azimuth, const struct RtkTime* rtkTime);
@@ -102,6 +165,7 @@
void DriverTestInit(void)
{
ExamStart = false;
+ SetExamParamDefault();
CarModel = NULL;
CarModelList.clear();
@@ -120,6 +184,93 @@
RtkBuffer = (rtk_info *) malloc(RTK_BUFFER_SIZE * sizeof(rtk_info));
RtkBufferNum = RtkBufferIn = 0;
+}
+
+static void SetExamParamDefault(void)
+{
+ examParam.hold_start_key_limit_time = DEFAULT_START_KEY_HOLD_TIME;
+ examParam.curve_pause_criteria = DEFAULT_CURVE_PAUSE_TIME;
+ examParam.park_bottom_pause_criteria = DEFAULT_PARK_BOTTOM_PAUSE_TIME;
+ examParam.park_bottom_limit_time = DEFAULT_PARK_BOTTOM_FINISH_TIME;
+ examParam.park_edge_pause_criteria = DEFAULT_PART_EDGE_PAUSE_TIME;
+ examParam.park_edge_limit_time = DEFAULT_PARK_EDGE_FINISH_TIME;
+ examParam.turn_a90_pause_criteria = DEFAULT_TURN_A90_PAUSE_TIME;
+
+ examParam.ramp_stoppoint_red_distance = DEFAULT_RAMP_STOPPOINT_RED_DISTANCE;
+ examParam.ramp_edge_yellow_distance = DEFAULT_RAMP_EDGE_YELLOW_DISTANCE;
+ examParam.ramp_edge_red_distance = DEFAULT_RAMP_EDGE_RED_DISTANCE;
+ examParam.ramp_slide_yellow_distance = DEFAULT_RAMP_SLIDE_YELLOW_DISTANCE;
+ examParam.ramp_slide_red_distance = DEFAULT_RAMP_SLIDE_RED_DISTANCE;
+ examParam.ramp_start_car_limit_time = DEFAULT_RAMP_FINISH_TIME;
+
+ examParam.road_slide_yellow_distance = DEFAULT_ROAD_SLIDE_YELLOW_DISTANCE;
+ examParam.road_slide_red_distance = DEFAULT_ROAD_SLIDE_RED_DISTANCE;
+ examParam.road_total_distance = DEFAULT_ROAD_MAX_DISTANCE;
+ examParam.road_max_speed = DEFAULT_ROAD_MAX_SPEED;
+
+ examParam.gear_speed_table.resize(6);
+ for (int i = 0; i < examParam.gear_speed_table.size(); ++i) {
+ examParam.gear_speed_table[i].resize(2);
+ }
+ examParam.gear_speed_table[0][0] = 0;
+ examParam.gear_speed_table[0][1] = 20;
+ examParam.gear_speed_table[1][0] = 5;
+ examParam.gear_speed_table[1][1] = 30;
+ examParam.gear_speed_table[2][0] = 15;
+ examParam.gear_speed_table[2][1] = 40;
+ examParam.gear_speed_table[3][0] = 25;
+ examParam.gear_speed_table[3][1] = 10000;
+ examParam.gear_speed_table[4][0] = 35;
+ examParam.gear_speed_table[4][1] = 10000;
+ examParam.gear_speed_table[5][0] = 45;
+ examParam.gear_speed_table[5][1] = 10000;
+
+ examParam.gear_n_allow_time = DEFAULT_GEAR_N_TIME;
+ examParam.same_gear_min_time = DEFAULT_SAME_GEAR_HOLD_TIME; // x绉掑唴锛屼笉鍏佽N->X->N->X缃悓涓�鎸′綅
+ examParam.gear_speed_error_cumulative_time = DEFAULT_GEAR_SPEED_ERROR_MAX_TIME;
+ examParam.road_pause_criteria = DEFAULT_ROAD_PAUSE_TIME;
+ examParam.continuous_change_lane_min_time = DEFAULT_CHANGE_LANE_MIN_TIME;
+ examParam.crash_dotted_line_cumulative_time = DEFAULT_CRASH_DOTTED_LINE_MAX_TIME;
+ examParam.turn_signal_min_advance = DEFAULT_TURN_SIGNAL_MIN_ADVANCE;
+ examParam.start_car_max_rpm = DEFAULT_START_CAR_MAX_RMP;
+ examParam.start_car_limit_distance = DEFAULT_START_CAR_DISTANCE;
+ examParam.open_door_drive_allow_distance = DEFAULT_START_CAR_OPEN_DOOR_DISTANCE;
+ examParam.start_car_begin_tts = DEFAULT_START_CAR_BEGIN_TTS;
+ examParam.start_car_end_tts = DEFAULT_START_CAR_END_TTS;
+ examParam.change_lane_limit_distance = CHANGE_LANE_MAX_DISTANCE;
+ examParam.change_lane_begin_tts = DEFAULT_CHANGE_LANE_BEGIN_TTS;
+ examParam.change_lane_end_tts = DEFAULT_CHANGE_LANE_END_TTS;
+ examParam.shift_limit_distance = DEFAULT_SHIFT_MAX_DISTANCE;
+ examParam.shift_hold_time = DEFAULT_SHIFT_HOLD_TIME;
+ examParam.shift_begin_tts = DEFAULT_SHIFT_BEGIN_TTS;
+ examParam.shift_end_tts = DEFAULT_SHIFT_END_TTS;
+ examParam.shift_up_tts = "";
+ examParam.shift_down_tts = "";
+
+ examParam.straight_begin_tts = DEFAULT_STRAIGHT_BEGIN_TTS;
+ examParam.straight_end_tts = DEFAULT_STRAIGHT_END_TTS;
+ examParam.straight_limit_distance = DEFAULT_STRAIGHT_MAX_DISTANCE;
+ examParam.straight_max_offset = DEFAULT_STRAIGHT_MAX_OFFSET;
+
+ examParam.overtake_limit_distance = DEFAULT_OVERTAKE_MAX_DISTANCE;
+ examParam.overtake_begin_tts = DEFAULT_OVERTAKE_BEGIN_TTS;
+ examParam.overtake_end_tts = DEFAULT_OVERTAKE_END_TTS;
+
+ examParam.stop_car_limit_distance = DEFAULT_STOP_CAR_MAX_DISTANCE;
+ examParam.stop_car_open_door_allow_time = DEFAULT_STOP_CAR_OPEN_DOOR_MAX_TIME;
+ examParam.stop_car_edge_red_distance = DEFAULT_STOP_CAR_EDGE_RED_DISTANCE;
+ examParam.stop_car_edge_yellow_distance = DEFAULT_STOP_CAR_EDGE_YELLOW_DISTANCE;
+ examParam.stop_car_begin_tts = DEFAULT_STOP_CAR_BEGIN_TTS;
+ examParam.stop_car_end_tts = DEFAULT_STOP_CAR_END_TTS;
+ examParam.crossing_stop_valid_distance = DEFAULT_CROSSING_STOP_VALID_DISTANCE;
+ examParam.cross_school_max_speed = DEFAULT_CROSS_SCHOOL_MAX_SPEED;
+ examParam.crossing_break_valid_distance = DEFAULT_CROSS_BREAK_VALID_DISTANCE;
+
+ examParam.crossing_go_straight_tts = DEFAULT_CROSSING_GO_STRAIGHT_TTS;
+ examParam.crossing_turn_left_tts = DEFAULT_CROSSING_TURN_LEFT_TTS;
+ examParam.crossing_turn_right_tts = DEFAULT_CROSSING_TURN_RIGHT_TTS;
+ examParam.crossing_turn_back_tts = DEFAULT_CROSSING_TURN_BACK_TTS;
+ examParam.crossing_turn_unknown_tts = DEFAULT_CROSSING_TURN_UNKNOWN_TTS;
}
static void ReadDriverExamPrimerTimeout(union sigval sig)
@@ -660,7 +811,7 @@
AddExamFault(4, rtkTime);
}
AppTimer_delete(EngineStartHold);
- AppTimer_add(EngineStartHold, D_SEC(2));
+ AppTimer_add(EngineStartHold, examParam.hold_start_key_limit_time);
}
} else if (engineStart) {
engineStart = false;
diff --git a/lib/src/main/cpp/driver_test.h b/lib/src/main/cpp/driver_test.h
index 07c91ff..11d5134 100644
--- a/lib/src/main/cpp/driver_test.h
+++ b/lib/src/main/cpp/driver_test.h
@@ -212,6 +212,83 @@
Polygon map2;
};
+typedef struct {
+ int hold_start_key_limit_time; // 鐐圭伀淇濇寔锛屾绉�
+
+ int curve_pause_criteria; // 鍋滆溅鏂畾锛岃豹绉�
+
+ int park_bottom_pause_criteria; // 璞
+ int park_bottom_limit_time; // 绉�
+
+ int park_edge_pause_criteria; // MSec
+ int park_edge_limit_time; // Sec
+
+ int turn_a90_pause_criteria; // MSec
+
+ double ramp_stoppoint_red_distance; // 绫�
+ double ramp_edge_yellow_distance;
+ double ramp_edge_red_distance;
+ double ramp_slide_yellow_distance;
+ double ramp_slide_red_distance;
+ int ramp_start_car_limit_time; // Sec
+
+ double road_slide_yellow_distance;
+ double road_slide_red_distance;
+ int road_total_distance;
+ int road_max_speed; // Km per hour
+ vector<vector<int>> gear_speed_table;
+ int gear_n_allow_time; // Sec
+ int same_gear_min_time; // Sec, x绉掑唴锛屼笉鍏佽N->X->N->X缃悓涓�鎸′綅
+ int gear_speed_error_cumulative_time; // Sec
+ int road_pause_criteria; // MSec
+ int continuous_change_lane_min_time; // Sec
+ int crash_dotted_line_cumulative_time; // Sec
+ int turn_signal_min_advance; // Sec
+ int start_car_max_rpm;
+ int start_car_limit_distance;
+ double open_door_drive_allow_distance;
+ string start_car_begin_tts;
+ string start_car_end_tts;
+
+ int change_lane_limit_distance;
+ string change_lane_begin_tts;
+ string change_lane_end_tts;
+
+ int shift_limit_distance;
+ int shift_hold_time; // Sec
+ string shift_begin_tts;
+ string shift_end_tts;
+ string shift_up_tts;
+ string shift_down_tts;
+
+ string straight_begin_tts;
+ string straight_end_tts;
+ int straight_limit_distance;
+ double straight_max_offset;
+
+ int overtake_limit_distance;
+ string overtake_begin_tts;
+ string overtake_end_tts;
+
+ int stop_car_limit_distance;
+ int stop_car_open_door_allow_time;
+ double stop_car_edge_red_distance;
+ double stop_car_edge_yellow_distance;
+ string stop_car_begin_tts;
+ string stop_car_end_tts;
+ double crossing_stop_valid_distance;
+ int cross_school_max_speed;
+ int crossing_break_valid_distance;
+
+ string crossing_go_straight_tts;
+ string crossing_turn_left_tts;
+ string crossing_turn_right_tts;
+ string crossing_turn_back_tts;
+ string crossing_turn_unknown_tts;
+} exam_param_t;
+
+extern exam_param_t examParam;
+
typedef vector<struct area_exam_map> LIST_AREA_MAP;
typedef list<car_model *> LIST_CAR_MODEL;
diff --git a/lib/src/main/cpp/master/comm_if.cpp b/lib/src/main/cpp/master/comm_if.cpp
index 6009256..3c01860 100644
--- a/lib/src/main/cpp/master/comm_if.cpp
+++ b/lib/src/main/cpp/master/comm_if.cpp
@@ -40,6 +40,7 @@
#define ID_MS_ROAD_MAP 0x8014
#define ID_MS_ROAD_MAP2 0x8013
#define ID_MS_SCHEME 0x8017
+#define ID_MS_EXAM_PARAM 0x8019
#define ID_SM_READ_CAR 0x0007
#define ID_MS_CAR 0x8007
@@ -1370,6 +1371,232 @@
}
break;
}
+
+ case ID_MS_EXAM_PARAM: {
+ Document doc;
+ doc.Parse(value);
+ if (!doc.HasParseError()) {
+ if (doc.HasMember("hold_start_key_limit_time")) {
+ const Value &a = doc["hold_start_key_limit_time"];
+ examParam.hold_start_key_limit_time = a.GetInt();
+ }
+
+ if (doc.HasMember("curve_pause_criteria")) {
+ const Value &a = doc["curve_pause_criteria"];
+ examParam.curve_pause_criteria = a.GetInt();
+ }
+
+ if (doc.HasMember("park_bottom_pause_criteria")) {
+ const Value &a = doc["park_bottom_pause_criteria"];
+ examParam.park_bottom_pause_criteria = a.GetInt();
+ }
+
+ if (doc.HasMember("park_bottom_limit_time")) {
+ const Value &a = doc["park_bottom_limit_time"];
+ examParam.park_bottom_limit_time = D_SEC(a.GetInt());
+ }
+
+ if (doc.HasMember("park_edge_pause_criteria")) {
+ const Value &a = doc["park_edge_pause_criteria"];
+ examParam.park_edge_pause_criteria = a.GetInt();
+ }
+
+ if (doc.HasMember("park_edge_limit_time")) {
+ const Value &a = doc["park_edge_limit_time"];
+ examParam.park_edge_limit_time = D_SEC(a.GetInt());
+ }
+
+ if (doc.HasMember("turn_a90_pause_criteria")) {
+ const Value &a = doc["turn_a90_pause_criteria"];
+ examParam.turn_a90_pause_criteria = a.GetInt();
+ }
+
+ if (doc.HasMember("ramp_stoppoint_red_distance")) {
+ const Value &a = doc["ramp_stoppoint_red_distance"];
+ examParam.ramp_stoppoint_red_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("ramp_edge_yellow_distance")) {
+ const Value &a = doc["ramp_edge_yellow_distance"];
+ examParam.ramp_edge_yellow_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("ramp_edge_red_distance")) {
+ const Value &a = doc["ramp_edge_red_distance"];
+ examParam.ramp_edge_red_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("ramp_slide_yellow_distance")) {
+ const Value &a = doc["ramp_slide_yellow_distance"];
+ examParam.ramp_slide_yellow_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("ramp_slide_red_distance")) {
+ const Value &a = doc["ramp_slide_red_distance"];
+ examParam.ramp_slide_red_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("ramp_start_car_limit_time")) {
+ const Value &a = doc["ramp_start_car_limit_time"];
+ examParam.ramp_start_car_limit_time = D_SEC(a.GetInt());
+ }
+
+ if (doc.HasMember("road_slide_yellow_distance")) {
+ const Value &a = doc["road_slide_yellow_distance"];
+ examParam.road_slide_yellow_distance = a.GetDouble();
+ }
+
+ double road_slide_red_distance;
+ if (doc.HasMember("road_slide_red_distance")) {
+ const Value &a = doc["road_slide_red_distance"];
+ examParam.road_slide_red_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("road_total_distance")) {
+ const Value &a = doc["road_total_distance"];
+ examParam.road_total_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("road_max_speed")) {
+ const Value &a = doc["road_max_speed"];
+ examParam.road_max_speed = a.GetInt();
+ }
+
+ if (doc.HasMember("gear_speed_table")) {
+ const Value &a = doc["gear_speed_table"];
+
+ int m = 0, n = 0;
+
+ for (Value::ConstValueIterator itr = a.Begin();
+ itr != a.End() && m < 6; ++itr, ++m) {
+ n = 0;
+ for (Value::ConstValueIterator itr2 = (*itr).Begin();
+ itr2 != (*itr).End() && n < 2; ++itr2, ++n) {
+ examParam.gear_speed_table[m][n] = (*itr2).GetInt();
+ }
+ }
+ }
+
+ if (doc.HasMember("gear_n_allow_time")) {
+ const Value &a = doc["gear_n_allow_time"];
+ examParam.gear_n_allow_time = D_SEC(a.GetInt());
+ }
+
+
+ if (doc.HasMember("same_gear_min_time")) {
+ const Value &a = doc["same_gear_min_time"];
+ examParam.same_gear_min_time = D_SEC(a.GetInt());
+ }
+
+ if (doc.HasMember("gear_speed_error_cumulative_time")) {
+ const Value &a = doc["gear_speed_error_cumulative_time"];
+ examParam.gear_speed_error_cumulative_time = D_SEC(a.GetInt());
+ }
+
+ if (doc.HasMember("road_pause_criteria")) {
+ const Value &a = doc["road_pause_criteria"];
+ examParam.road_pause_criteria = a.GetInt();
+ }
+
+ if (doc.HasMember("continuous_change_lane_min_time")) {
+ const Value &a = doc["continuous_change_lane_min_time"];
+ examParam.continuous_change_lane_min_time = D_SEC(a.GetInt());
+ }
+
+ if (doc.HasMember("crash_dotted_line_cumulative_time")) {
+ const Value &a = doc["crash_dotted_line_cumulative_time"];
+ examParam.crash_dotted_line_cumulative_time = D_SEC(a.GetInt());
+ }
+
+ if (doc.HasMember("turn_signal_min_advance")) {
+ const Value &a = doc["turn_signal_min_advance"];
+ examParam.turn_signal_min_advance = D_SEC(a.GetInt());
+ }
+
+ if (doc.HasMember("start_car_max_rpm")) {
+ const Value &a = doc["start_car_max_rpm"];
+ examParam.start_car_max_rpm = a.GetInt();
+ }
+
+ if (doc.HasMember("start_car_limit_distance")) {
+ const Value &a = doc["start_car_limit_distance"];
+ examParam.start_car_limit_distance = a.GetInt();
+ }
+
+ if (doc.HasMember("open_door_drive_allow_distance")) {
+ const Value &a = doc["open_door_drive_allow_distance"];
+ examParam.open_door_drive_allow_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("change_lane_limit_distance")) {
+ const Value &a = doc["change_lane_limit_distance"];
+ examParam.change_lane_limit_distance = a.GetInt();
+ }
+
+ if (doc.HasMember("shift_limit_distance")) {
+ const Value &a = doc["shift_limit_distance"];
+ examParam.shift_limit_distance = a.GetInt();
+ }
+
+ if (doc.HasMember("shift_hold_time")) {
+ const Value &a = doc["shift_hold_time"];
+ examParam.shift_hold_time = D_SEC(a.GetInt());
+ }
+
+ int straight_limit_distance;
+ if (doc.HasMember("straight_limit_distance")) {
+ const Value &a = doc["straight_limit_distance"];
+ examParam.straight_limit_distance = a.GetInt();
+ }
+
+ if (doc.HasMember("straight_max_offset")) {
+ const Value &a = doc["straight_max_offset"];
+ examParam.straight_max_offset = a.GetDouble();
+ }
+
+ if (doc.HasMember("overtake_limit_distance")) {
+ const Value &a = doc["overtake_limit_distance"];
+ examParam.overtake_limit_distance = a.GetInt();
+ }
+
+ if (doc.HasMember("stop_car_limit_distance")) {
+ const Value &a = doc["stop_car_limit_distance"];
+ examParam.stop_car_limit_distance = a.GetInt();
+ }
+
+ if (doc.HasMember("stop_car_open_door_allow_time")) {
+ const Value &a = doc["stop_car_open_door_allow_time"];
+ examParam.stop_car_open_door_allow_time = D_SEC(a.GetInt());
+ }
+
+ if (doc.HasMember("stop_car_edge_red_distance")) {
+ const Value &a = doc["stop_car_edge_red_distance"];
+ examParam.stop_car_edge_red_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("stop_car_edge_yellow_distance")) {
+ const Value &a = doc["stop_car_edge_yellow_distance"];
+ examParam.stop_car_edge_yellow_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("crossing_stop_valid_distance")) {
+ const Value &a = doc["crossing_stop_valid_distance"];
+ examParam.crossing_stop_valid_distance = a.GetDouble();
+ }
+
+ if (doc.HasMember("cross_school_max_speed")) {
+ const Value &a = doc["cross_school_max_speed"];
+ examParam.cross_school_max_speed = a.GetInt();
+ }
+
+ if (doc.HasMember("crossing_break_valid_distance")) {
+ const Value &a = doc["crossing_break_valid_distance"];
+ examParam.crossing_break_valid_distance = a.GetInt();
+ }
+ }
+ break;
+ }
+
case ID_MS_MAP: {
Document doc;
doc.Parse(value);
diff --git a/lib/src/main/cpp/native-lib.cpp b/lib/src/main/cpp/native-lib.cpp
index 823ca99..2eb0fc9 100644
--- a/lib/src/main/cpp/native-lib.cpp
+++ b/lib/src/main/cpp/native-lib.cpp
@@ -252,6 +252,11 @@
return id;
}
+int PlayTTS(std::string &tts, void (*callback)(int))
+{
+ return PlayTTS(tts.c_str(), callback);
+}
+
void PlayRing(void)
{
JNIEnv *env;
diff --git a/lib/src/main/cpp/native-lib.h b/lib/src/main/cpp/native-lib.h
index a088514..bff3f5d 100644
--- a/lib/src/main/cpp/native-lib.h
+++ b/lib/src/main/cpp/native-lib.h
@@ -6,6 +6,8 @@
#define RTKBASESTATION_NATIVE_LIB_H
#include <cstdint>
+#include <string>
+
#include "test_common/Geometry.h"
typedef struct {
@@ -24,6 +26,7 @@
void DrawScreen(const Polygon *map, const Polygon *car);
void SendMsgToMainProc(int cmd, const char *value);
int PlayTTS(const char *string, void (*callback)(int));
+int PlayTTS(std::string &tts, void (*callback)(int));
void PlayRing(void);
#endif //RTKBASESTATION_NATIVE_LIB_H
diff --git a/lib/src/main/cpp/rtk_module/rtk.cpp b/lib/src/main/cpp/rtk_module/rtk.cpp
index b7afde4..a5c75d3 100644
--- a/lib/src/main/cpp/rtk_module/rtk.cpp
+++ b/lib/src/main/cpp/rtk_module/rtk.cpp
@@ -214,7 +214,7 @@
}*/
if (RxBufLen > 0) {
-#if 0
+#if 1
const uint8_t *ptr = parseGPS(RxBuf, RxBuf + RxBufLen);
if(ptr != RxBuf) {
memcpy(RxBuf, ptr, RxBufLen - (ptr - RxBuf));
diff --git a/lib/src/main/cpp/rtk_platform/platform.cpp b/lib/src/main/cpp/rtk_platform/platform.cpp
index a3b0098..a2e10ba 100644
--- a/lib/src/main/cpp/rtk_platform/platform.cpp
+++ b/lib/src/main/cpp/rtk_platform/platform.cpp
@@ -565,8 +565,9 @@
if (length == 4)
MA_MainProcMsgEntry(c.a, NULL);
- else
- MA_MainProcMsgEntry(c.a, (char *)data + 4);
+ else {
+ MA_MainProcMsgEntry(c.a, (char *) data + 4);
+ }
}
}
diff --git a/lib/src/main/cpp/test_items/driving_curve.cpp b/lib/src/main/cpp/test_items/driving_curve.cpp
index 9f19572..085a8d0 100644
--- a/lib/src/main/cpp/test_items/driving_curve.cpp
+++ b/lib/src/main/cpp/test_items/driving_curve.cpp
@@ -18,8 +18,6 @@
#define DEBUG(fmt, args...) LOGD("<driving_curve> <%s>: " fmt, __func__, ##args)
-const uint32_t STOP_CAR_TIME = D_SEC(2);
-
static bool testing = false;
static int mapIndex = 0;
static uint32_t stopTimepoint = 0;
@@ -132,7 +130,7 @@
} else if (moveDirect == 0) {
uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
- if (tp - stopTimepoint >= STOP_CAR_TIME && !reportStopCarTimeout) {
+ if (tp - stopTimepoint >= examParam.curve_pause_criteria && !reportStopCarTimeout) {
// 鍋滆溅瓒�2绉掞紝涓嶅悎鏍�
AddExamFault(28, rtkTime);
DEBUG("涓�斿仠杞�");
diff --git a/lib/src/main/cpp/test_items/park_bottom.cpp b/lib/src/main/cpp/test_items/park_bottom.cpp
index 5854125..40350b5 100644
--- a/lib/src/main/cpp/test_items/park_bottom.cpp
+++ b/lib/src/main/cpp/test_items/park_bottom.cpp
@@ -27,12 +27,9 @@
THIRD_TOUCH_CTRL_LINE
};
-const int PARK_TIMEOUT = D_SEC(210);
-
static bool testing = false, reverseCar = false;
static int mapIndex = 0;
-const uint32_t STOP_CAR_TIME = D_SEC(2);
const uint32_t CHECK_PARK_DELAY = 400;
static uint32_t stopTimepoint;
@@ -153,7 +150,7 @@
}
}
- if (testing && darray[0] > 0 && tp - firstReverseTimepoint >= PARK_TIMEOUT) {
+ if (testing && darray[0] > 0 && tp - firstReverseTimepoint >= examParam.park_bottom_limit_time) {
// 瀹屾垚瓒呮椂锛屼笉鍚堟牸
if (!reportExamTimeout) {
reportExamTimeout = true;
@@ -178,7 +175,7 @@
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 && reverseCar) {
+ if (tp - stopTimepoint >= examParam.park_bottom_pause_criteria && 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 fab68ea..6ad7c5e 100644
--- a/lib/src/main/cpp/test_items/park_edge.cpp
+++ b/lib/src/main/cpp/test_items/park_edge.cpp
@@ -20,8 +20,6 @@
using namespace std;
-const int PARK_TIMEOUT = D_SEC(90);
-const uint32_t STOP_CAR_TIME = D_SEC(2);
const uint32_t CHECK_PARK_DELAY = 400;
static int mapIndex = 0;
@@ -122,7 +120,7 @@
if (occurMoveBack) {
uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
- if (!reportExamTimeout && tp - moveBackTimePoint >= PARK_TIMEOUT) {
+ if (!reportExamTimeout && tp - moveBackTimePoint >= examParam.park_edge_limit_time) {
// 瓒呮椂90绉掞紝涓嶅悎鏍�
AddExamFault(22, rtkTime);
reportExamTimeout = true;
@@ -145,7 +143,7 @@
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 && occurMoveBack) {
+ if (tp - stopTimepoint >= examParam.park_edge_pause_criteria && 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 d75ed70..477884b 100644
--- a/lib/src/main/cpp/test_items/stop_and_start.cpp
+++ b/lib/src/main/cpp/test_items/stop_and_start.cpp
@@ -19,12 +19,7 @@
using namespace std;
-const double STOP_DISTANCE_THRESHOLD_RED = 0.5;
-const double EDGE_DISTANCE_THRESHOLD_RED = 0.5;
-const double EDGE_DISTANCE_THRESHOLD_YELLOW = 0.3;
-const double SLIDE_DISTANCE_THRESHOLD_RED = 0.3;
-const double SLIDE_DISTANCE_THRESHOLD_YELLOW = 0.1;
-const uint32_t CAR_START_TIMEOUT = D_SEC(30);
+
const uint32_t STOP_CAR_TIME = D_SEC(1);
const double EPSILON = 1e-3;
@@ -126,7 +121,7 @@
DEBUG("DIS1 = %f DIS2 = %f", dis1, dis2);
- if (dis1 > STOP_DISTANCE_THRESHOLD_RED) {
+ if (dis1 > examParam.ramp_stoppoint_red_distance) {
// 璺濈鍋滄绾垮墠鍚庤秴鍑�50鍘樼背
AddExamFault(12, rtkTime);
DEBUG("璺濈鍋滄绾垮墠鍚庤秴鍑�50鍘樼背锛屼笉鍚堟牸");
@@ -136,12 +131,12 @@
DEBUG("鍓嶄繚闄╂病鏈変綅浜庡仠姝㈠甫鍐咃紝浣嗘病鏈夎秴鍑�50鍘樼背");
}
- if (dis2 > EDGE_DISTANCE_THRESHOLD_RED) {
+ if (dis2 > examParam.ramp_edge_red_distance) {
// 璺濈杈圭嚎瓒呭嚭50鍘樼背,涓嶅悎鏍�
AddExamFault(14, rtkTime);
DEBUG("璺濈杈圭嚎瓒呭嚭50鍘樼背");
- } else if (dis2 > EDGE_DISTANCE_THRESHOLD_YELLOW) {
- // 璺濈杈圭嚎瓒呭嚭30鍘樼背锛屼笉鍚堟牸
+ } else if (dis2 > examParam.ramp_edge_yellow_distance) {
+ // 璺濈杈圭嚎瓒呭嚭30鍘樼背锛屾墸10鍒�
AddExamFault(18, rtkTime);
DEBUG("璺濈杈圭嚎瓒呭嚭30鍘樼背");
}
@@ -158,11 +153,11 @@
// 鍙戠敓鍚庢粦
double slideDistance = DistanceOf(stopPoint, car->carXY[car->axial[AXIAL_FRONT]]);
- if (slideDistance > SLIDE_DISTANCE_THRESHOLD_YELLOW) {
+ if (slideDistance > examParam.ramp_slide_yellow_distance) {
slideNormalDistance = true;
}
- if (slideDistance > SLIDE_DISTANCE_THRESHOLD_RED && !slideLongDistance && !reportSlideFault) {
+ if (slideDistance > examParam.ramp_slide_red_distance && !slideLongDistance && !reportSlideFault) {
// 鍚庢粦瓒呰繃30鍘樼背, 涓嶅悎鏍�
AddExamFault(16, rtkTime);
DEBUG("鍚庢粦瓒呰繃30鍘樼背");
@@ -174,7 +169,7 @@
if (!reportStartTimeout && (IntersectionOfLine(map->point[4], stopPoint, car->carXY[car->axial[AXIAL_FRONT]]) != -1 ||
DistanceOf(stopPoint, car->carXY[car->axial[AXIAL_FRONT]]) < 0.1)) {
- if (TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10) - stopCarTime > CAR_START_TIMEOUT) {
+ if (TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10) - stopCarTime > examParam.ramp_start_car_limit_time) {
// 璧锋鏃堕棿瓒呰繃30绉掞紝涓嶅悎鏍�
AddExamFault(15, rtkTime);
DEBUG("璧锋鏃堕棿瓒呰繃30绉�");
diff --git a/lib/src/main/cpp/test_items/turn_a90.cpp b/lib/src/main/cpp/test_items/turn_a90.cpp
index b0777ea..be8b131 100644
--- a/lib/src/main/cpp/test_items/turn_a90.cpp
+++ b/lib/src/main/cpp/test_items/turn_a90.cpp
@@ -20,8 +20,6 @@
using namespace std;
-const uint32_t STOP_CAR_TIME = D_SEC(2);
-
static bool testing;
static int mapIndex;
@@ -101,7 +99,7 @@
} else if (moveDirect == 0) {
uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
- if (tp - stopTimepoint >= STOP_CAR_TIME && !reportStopCarTimeout) {
+ if (tp - stopTimepoint >= examParam.turn_a90_pause_criteria && !reportStopCarTimeout) {
// 鍋滆溅瓒�2绉掞紝姣忔鎵�5鍒�
AddExamFault(31, rtkTime);
DEBUG("涓�斿仠杞�");
diff --git a/lib/src/main/cpp/test_items2/car_start.cpp b/lib/src/main/cpp/test_items2/car_start.cpp
index 9d0fb35..fdc3a59 100644
--- a/lib/src/main/cpp/test_items2/car_start.cpp
+++ b/lib/src/main/cpp/test_items2/car_start.cpp
@@ -13,10 +13,6 @@
#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;
-static const double START_CAR_CHECK_DOOR_DISTANCE = 1.0;
-
static double startCarMoveDistance;
static bool checkEngineRPM, checkStartCarSignal, checkDoor, handBreakActive;
@@ -32,7 +28,7 @@
checkStartCarSignal = false;
checkDoor = false;
handBreakActive = false;
- PlayTTS("璇疯捣姝�", cb);
+ PlayTTS(examParam.start_car_begin_tts, cb);
DEBUG("杞﹁締璧锋");
}
@@ -61,7 +57,7 @@
}
}
- if (moveDistance > START_CAR_MOVE_DISTANCE) {
+ if (moveDistance > examParam.start_car_limit_distance) {
sensor = ReadCarSensorValue(HAND_BREAK);
if (sensor.name == HAND_BREAK && sensor.value == BREAK_ACTIVE) {
@@ -74,11 +70,11 @@
AddExamFault(26, rtkTime);
}
- PlayTTS("瀹屾垚璧锋", NULL);
+ PlayTTS(examParam.start_car_end_tts, NULL);
DEBUG("############# 瀹屾垚璧锋 ############");
return false;
- } else if (moveDistance >= START_CAR_CHECK_DOOR_DISTANCE) {
+ } else if (moveDistance >= examParam.open_door_drive_allow_distance) {
if (!checkDoor) {
checkDoor = true;
@@ -96,7 +92,7 @@
}
}
- if (ReadCarStatus(ENGINE_RPM) > MAX_ENGINE_RPM && !checkEngineRPM) {
+ if (ReadCarStatus(ENGINE_RPM) > examParam.start_car_max_rpm && !checkEngineRPM) {
// 杞�熻秴鏍囷紝涓嶅悎鏍�
DEBUG("杞�熻秴鏍�");
AddExamFault(29, rtkTime);
diff --git a/lib/src/main/cpp/test_items2/change_lane.cpp b/lib/src/main/cpp/test_items2/change_lane.cpp
index 0fb8225..80053ac 100644
--- a/lib/src/main/cpp/test_items2/change_lane.cpp
+++ b/lib/src/main/cpp/test_items2/change_lane.cpp
@@ -27,7 +27,7 @@
start = false;
originalLane = ori_lane;
- PlayTTS("鍓嶆柟璇峰彉鏇磋溅閬�", TtsBack);
+ PlayTTS(examParam.change_lane_begin_tts, TtsBack);
}
bool TestChangeLane(int currLane, const struct RtkTime *rtkTime)
@@ -36,11 +36,11 @@
return true;
if (originalLane != currLane) {
DEBUG("瀹屾垚鍙橀亾");
- PlayTTS("瀹屾垚鍙橀亾", NULL);
+ PlayTTS(examParam.change_lane_end_tts, NULL);
return false;
}
- if (ReadOdo() - maxMoveDistance > 100) {
+ if (ReadOdo() - maxMoveDistance > examParam.change_lane_limit_distance) {
// 瓒呰溅鏈畬鎴�
DEBUG("鍙橀亾鍥哄畾璺濈鍐呮湭瀹屾垚 褰撳墠閲岀▼ %f", ReadOdo());
AddExamFault(3, rtkTime);
diff --git a/lib/src/main/cpp/test_items2/drive_straight.cpp b/lib/src/main/cpp/test_items2/drive_straight.cpp
index 8b7d1cf..44d120a 100644
--- a/lib/src/main/cpp/test_items2/drive_straight.cpp
+++ b/lib/src/main/cpp/test_items2/drive_straight.cpp
@@ -14,9 +14,6 @@
#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;
-
static int setup;
static double beginOdo;
static int yaw_stat;
@@ -31,7 +28,7 @@
DEBUG("寮�濮嬬洿绾胯椹�");
setup = 0;
yaw_stat = 0;
- PlayTTS("璇蜂繚鎸佺洿绾胯椹�", TtsBack);
+ PlayTTS(examParam.straight_begin_tts, TtsBack);
}
bool TestDriveStraight(road_exam_map &RoadMap, int roadIndex, const car_model *car, const struct RtkTime *rtkTime) {
@@ -70,7 +67,7 @@
} else if (setup == 2) {
offset1 = DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], baseLine);
- if (offset1 > MAX_OFFSET_DISTANCE) {
+ if (offset1 > examParam.straight_max_offset) {
DEBUG("铏氭嫙鐩寸嚎鍋忕Щ澶т簬30鍘樼背 offset1 = %f", offset1);
// // 鍋忕Щ澶т簬30鍘樼背锛屼笉鍚堟牸
// AddExamFault(30, rtkTime);
@@ -80,7 +77,7 @@
PointF px = CalcProjectionWithRoadEdge(RoadMap.roads[roadIndex].rightEdge, car->carXY[car->axial[AXIAL_FRONT]]);
offset2 = DistanceOf(px, car->carXY[car->axial[AXIAL_FRONT]]);
- if (fabs(offset2 - offsetBase) > MAX_OFFSET_DISTANCE) {
+ if (fabs(offset2 - offsetBase) > examParam.straight_max_offset) {
DEBUG("鐩寸嚎鍋忕Щ澶т簬30鍘樼背 offset2 = %f", fabs(offset2 - offsetBase));
// 鍋忕Щ澶т簬30鍘樼背锛屼笉鍚堟牸
AddExamFault(30, rtkTime);
@@ -88,10 +85,10 @@
}
}
- if (setup == 2 && ReadOdo() - beginOdo > CHECK_STAGE_DISTANCE) {
+ if (setup == 2 && ReadOdo() - beginOdo > examParam.straight_limit_distance) {
DEBUG("鐩寸嚎琛岄┒缁撴潫 offset1 = %f offset2 = %f", offset1, fabs(offset2 - offsetBase));
- PlayTTS("鐩寸嚎琛岄┒缁撴潫", NULL);
+ PlayTTS(examParam.straight_end_tts, NULL);
return false;
}
diff --git a/lib/src/main/cpp/test_items2/operate_gear.cpp b/lib/src/main/cpp/test_items2/operate_gear.cpp
index d365cc7..c403d17 100644
--- a/lib/src/main/cpp/test_items2/operate_gear.cpp
+++ b/lib/src/main/cpp/test_items2/operate_gear.cpp
@@ -32,7 +32,7 @@
setup = 0;
- PlayTTS("璇疯繘琛屽姞鍑忔尅浣嶆搷浣�", TtsBack);
+ PlayTTS(examParam.shift_begin_tts, TtsBack);
}
bool TestOperateGear(const struct RtkTime *rtkTime)
@@ -104,7 +104,7 @@
setup = 3;
}
} else if (setup == 3) {
- if (TimeGetDiff(rtkTime, &shiftTime) >= D_SEC(3)) {
+ if (TimeGetDiff(rtkTime, &shiftTime) >= examParam.shift_hold_time) {
setup = 4;
char buff[128];
expectGear += 0 - upDownShift;
@@ -130,8 +130,8 @@
DEBUG("浜屾鎹㈡尅鎴愬姛锛屼笅涓�涓�...");
}
} else if (setup == 5) {
- if (TimeGetDiff(rtkTime, &shiftTime) >= D_SEC(3)) {
- PlayTTS("鍔犲噺鎸′綅鎿嶄綔缁撴潫", NULL);
+ if (TimeGetDiff(rtkTime, &shiftTime) >= examParam.shift_hold_time) {
+ PlayTTS(examParam.shift_end_tts, NULL);
DEBUG("鍔犲噺鎸′綅鎿嶄綔缁撴潫");
return false;
}
diff --git a/lib/src/main/cpp/test_items2/overtake.cpp b/lib/src/main/cpp/test_items2/overtake.cpp
index c3e53ad..7f9d29b 100644
--- a/lib/src/main/cpp/test_items2/overtake.cpp
+++ b/lib/src/main/cpp/test_items2/overtake.cpp
@@ -25,7 +25,7 @@
{
DEBUG("瓒呰秺鍓嶆柟杞﹁締");
- PlayTTS("璇疯秴瓒婂墠鏂硅溅杈�", TtsBack);
+ PlayTTS(examParam.overtake_begin_tts, TtsBack);
setup = 0;
originalLane = ori_lane;
@@ -51,7 +51,7 @@
if (originalLane == currLane) {
} else if (currLane == originalLane + 1) {
- PlayTTS("瀹屾垚瓒呰溅", NULL);
+ PlayTTS(examParam.overtake_end_tts, NULL);
return false;
} else {
DEBUG("瓒呰溅杩濊鍙橀亾");
@@ -60,7 +60,7 @@
}
}
- if (ReadOdo() - maxMoveDistance > 150) {
+ if (ReadOdo() - maxMoveDistance > examParam.overtake_limit_distance) {
// 瓒呰溅鏈畬鎴�
DEBUG("瓒呰溅鍥哄畾璺濈鍐呮湭瀹屾垚 褰撳墠閲岀▼ %f", ReadOdo());
AddExamFault(3, rtkTime);
diff --git a/lib/src/main/cpp/test_items2/road_exam.cpp b/lib/src/main/cpp/test_items2/road_exam.cpp
index 0a3f627..f3164f5 100644
--- a/lib/src/main/cpp/test_items2/road_exam.cpp
+++ b/lib/src/main/cpp/test_items2/road_exam.cpp
@@ -69,11 +69,6 @@
static const int CROSSING_TURN_THRESHOLD = 35;
static const int TURN_THRESHOLD = 3;
-const double SLIDE_DISTANCE_THRESHOLD_RED = 0.3;
-const double SLIDE_DISTANCE_THRESHOLD_YELLOW = 0.1;
-
-const double EXAM_RANGE = 2700.0; // 鑷冲皯椹鹃┒璺濈
-
static bool occurOverSpeed;
static bool occurSecondBreak;
@@ -137,18 +132,6 @@
static int startTurnYaw, prevYaw;
static int turnCnt, turnTimeCnt;
static int prevTurnWise;
-
-static const uint32_t GEAR_N_SLIDE_TIMEOUT = D_SEC(10);
-static const uint32_t GEAR_ERROR_TIMEOUT = D_SEC(15);
-static const uint32_t STOP_CAR_TIME = D_SEC(2);
-static const uint32_t CHANGE_LANE_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 MAX_SPEED = 60.0 * 1000.0 / 3600.0; // 瓒呴�熺‘璁�
-static const double DEC_MAX_SPEED = 55.0 * 1000.0 / 3600.0; // 瓒呴�熷彇娑�
-static const int SPEED_GEAR_TABLE[][2] = {{0, 20}, {5, 30}, {15, 40}, {25, 10000}, {35, 10000}};
static void ItemExam(road_exam_map &RoadMap, int roadIndex, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime, double straight, double road_end);
static void ItemExam2(road_exam_map &RoadMap, int roadIndex, const car_model *car, LIST_CAR_MODEL &CarModelList);
@@ -901,7 +884,7 @@
checkCrashGreenTimeout = 1;
crashGreenRunTime = *rtkTime; // 杩愬姩涓帇铏氱嚎鐨勫紑濮嬫椂闂寸偣
} else if (checkCrashGreenTimeout == 1) {
- if (TimeGetDiff(rtkTime, &crashGreenRunTime) >= CRASH_DOTTED_LINE_TIMEOUT) {
+ if (TimeGetDiff(rtkTime, &crashGreenRunTime) >= examParam.crash_dotted_line_cumulative_time) {
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
@@ -946,7 +929,7 @@
// 娌℃墦鐏紝涓嶅悎鏍�
AddExamFault(13, rtkTime);
} else if (TimeGetDiff(&crashGreenStartTime, &turnSignalStatus.time) <
- TURN_SIGNAL_LAMP_ADVANCE) {
+ examParam.turn_signal_min_advance) {
DEBUG("杞悜鐏椂闂翠笉瓒� %02d-%02d-%02d %02d:%02d:%02d.%03d -> %02d-%02d-%02d %02d:%02d:%02d.%03d",
crashGreenStartTime.YY, crashGreenStartTime.MM, crashGreenStartTime.DD,
crashGreenStartTime.hh, crashGreenStartTime.mm, crashGreenStartTime.ss,
@@ -963,7 +946,7 @@
// 娌℃墦鐏紝涓嶅悎鏍�
AddExamFault(13, rtkTime);
} else if (TimeGetDiff(&crashGreenStartTime, &turnSignalStatus.time) <
- TURN_SIGNAL_LAMP_ADVANCE) {
+ examParam.turn_signal_min_advance) {
DEBUG("杞悜鐏椂闂翠笉瓒� %02d-%02d-%02d %02d:%02d:%02d.%03d -> %02d-%02d-%02d %02d:%02d:%02d.%03d",
crashGreenStartTime.YY, crashGreenStartTime.MM, crashGreenStartTime.DD,
crashGreenStartTime.hh, crashGreenStartTime.mm, crashGreenStartTime.ss,
@@ -975,7 +958,7 @@
}
}
- if (((ChangeLane.gain < 0 && gain < 0) || (ChangeLane.gain > 0 && gain > 0)) && TimeGetDiff(rtkTime, &ChangeLane.time) < CHANGE_LANE_MIN_INTERVAL) {
+ if (((ChangeLane.gain < 0 && gain < 0) || (ChangeLane.gain > 0 && gain > 0)) && TimeGetDiff(rtkTime, &ChangeLane.time) < examParam.continuous_change_lane_min_time) {
DEBUG("杩炵画鍙橀亾");
AddExamFault(15, rtkTime);
}
@@ -1196,23 +1179,23 @@
switch (act) {
case ROAD_ACTIVE_FORWARD:
DEBUG("璺彛鎻愮ず 鐩磋");
- PlayTTS("鍓嶆柟璺彛璇风洿琛�", NULL);
+ PlayTTS(examParam.crossing_go_straight_tts, NULL);
break;
case ROAD_ACTIVE_TURN_LEFT:
DEBUG("璺彛鎻愮ず 宸﹁浆");
- PlayTTS("鍓嶆柟璺彛璇峰乏杞�", NULL);
+ PlayTTS(examParam.crossing_turn_left_tts, NULL);
break;
case ROAD_ACTIVE_TURN_RIGHT:
DEBUG("璺彛鎻愮ず 鍙宠浆");
- PlayTTS("鍓嶆柟璺彛璇峰彸杞�", NULL);
+ PlayTTS(examParam.crossing_turn_right_tts, NULL);
break;
case ROAD_ACTIVE_TURN_BACKWARD:
DEBUG("璺彛鎻愮ず 鎺夊ご");
- PlayTTS("鍓嶆柟璺彛璇锋帀澶�", NULL);
+ PlayTTS(examParam.crossing_turn_back_tts, NULL);
break;
default:
DEBUG("璺彛鎻愮ず 鏈厤缃�");
- PlayTTS("鍓嶆柟璺彛鍚暀缁冩寚浠�", NULL);
+ PlayTTS(examParam.crossing_turn_unknown_tts, NULL);
break;
}
}
@@ -1308,14 +1291,14 @@
RingBreak();
// 瓒呴�熸娴�
- if (speed > MAX_SPEED) {
+ if (ConvertMs2KMh(speed) > examParam.road_max_speed) {
if (!occurOverSpeed) {
occurOverSpeed = true;
// 瓒呴�燂紝涓嶅悎鏍�
DEBUG("瓒呴�� %f", ConvertMs2KMh(speed));
AddExamFault(10, rtkTime);
}
- } else if (speed < DEC_MAX_SPEED) {
+ } else if (ConvertMs2KMh(speed) < examParam.road_max_speed - 5) {
occurOverSpeed = false;
}
@@ -1358,32 +1341,32 @@
}
break;
case GEAR_1:
- if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[0][0] ||
- ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[0][1]) {
+ if (ConvertMs2KMh(speed) < examParam.gear_speed_table[0][0] ||
+ ConvertMs2KMh(speed) > examParam.gear_speed_table[0][1]) {
currGearError = true;
}
break;
case GEAR_2:
- if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[1][0] ||
- ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[1][1]) {
+ if (ConvertMs2KMh(speed) < examParam.gear_speed_table[1][0] ||
+ ConvertMs2KMh(speed) > examParam.gear_speed_table[1][1]) {
currGearError = true;
}
break;
case GEAR_3:
- if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[2][0] ||
- ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[2][1]) {
+ if (ConvertMs2KMh(speed) < examParam.gear_speed_table[2][0] ||
+ ConvertMs2KMh(speed) > examParam.gear_speed_table[2][1]) {
currGearError = true;
}
break;
case GEAR_4:
- if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[3][0] ||
- ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[3][1]) {
+ if (ConvertMs2KMh(speed) < examParam.gear_speed_table[3][0] ||
+ ConvertMs2KMh(speed) > examParam.gear_speed_table[3][1]) {
currGearError = true;
}
break;
case GEAR_5:
- if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[4][0] ||
- ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[4][1]) {
+ if (ConvertMs2KMh(speed) < examParam.gear_speed_table[4][0] ||
+ ConvertMs2KMh(speed) > examParam.gear_speed_table[4][1]) {
currGearError = true;
}
break;
@@ -1398,7 +1381,7 @@
gearNSlideTimePoint = *rtkTime;
}
if (GearNSlideStatus == 1 &&
- TimeGetDiff(rtkTime, &gearNSlideTimePoint) > GEAR_N_SLIDE_TIMEOUT) {
+ TimeGetDiff(rtkTime, &gearNSlideTimePoint) > examParam.gear_n_allow_time) {
// 绌烘。婊戣瓒�5绉掞紝涓嶅悎鏍�
DEBUG("鎸′綅婊戣锛岃秴杩�5绉�");
AddExamFault(8, rtkTime);
@@ -1415,7 +1398,7 @@
ReadCarStatus(GEAR), ConvertMs2KMh(speed));
gearErrorTime += TimeGetDiff(rtkTime, &gearErrorTimePoint);
}
- if (gearErrorTime > GEAR_ERROR_TIMEOUT) {
+ if (gearErrorTime > examParam.gear_speed_error_cumulative_time) {
// 绱15绉掞紝鎸′綅-杞﹂�熶笉鍖归厤锛屼笉鍚堟牸
DEBUG("鎸′綅閿欒瓒呰繃15绉�");
AddExamFault(6, rtkTime);
@@ -1453,7 +1436,7 @@
prevMoveDirect = moveDirect;
} else if (moveDirect == 0) {
// 鎸佺画鍋滆溅
- if (TimeGetDiff(rtkTime, &stopTimepoint) >= STOP_CAR_TIME && !StopCarOnRedArea &&
+ if (TimeGetDiff(rtkTime, &stopTimepoint) >= examParam.road_pause_criteria && !StopCarOnRedArea &&
StopOnRedArea(RoadMap, car)) {
// 鍋滆溅瓒�2绉掞紝鍋滃湪绾㈠尯锛屼笉鍚堟牸
AddExamFault(16, rtkTime);
@@ -1465,11 +1448,11 @@
if (occurSlide) {
double slideDistance = DistanceOf(stopPoint, car->basePoint);
- if (slideDistance > SLIDE_DISTANCE_THRESHOLD_YELLOW) {
+ if (slideDistance > examParam.road_slide_yellow_distance) {
slideNormalDistance = true;
}
- if (slideDistance > SLIDE_DISTANCE_THRESHOLD_RED && !slideLongDistance) {
+ if (slideDistance > examParam.road_slide_red_distance && !slideLongDistance) {
// 鍚庢粦瓒呰繃30鍘樼背, 涓嶅悎鏍�
AddExamFault(5, rtkTime);
DEBUG("鍚庢粦瓒呰繃30鍘樼背");
@@ -1629,7 +1612,7 @@
}
if (!not_complete) {
- if (road_end > 200 && ReadOdo() > EXAM_RANGE) {
+ if (road_end > 200 && ReadOdo() > examParam.road_total_distance) {
RoadExamStatus = ROAD_EXAM_ITEM_CAR_STOP;
StartStopCarExam();
return;
@@ -1818,7 +1801,7 @@
// 娌℃墦鐏紝涓嶅悎鏍�
AddExamFault(13, rtkTime);
} else if (TimeGetDiff(&beginTurnTime, &turnSignalStatus.time) <
- TURN_SIGNAL_LAMP_ADVANCE) {
+ examParam.turn_signal_min_advance) {
DEBUG("杞悜鐏椂闂翠笉瓒�");
// 涓嶈冻3绉掞紝涓嶅悎鏍�
AddExamFault(14, rtkTime);
@@ -1829,7 +1812,7 @@
// 娌℃墦鐏紝涓嶅悎鏍�
AddExamFault(13, rtkTime);
} else if (TimeGetDiff(&beginTurnTime, &turnSignalStatus.time) <
- TURN_SIGNAL_LAMP_ADVANCE) {
+ examParam.turn_signal_min_advance) {
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/stop_car.cpp b/lib/src/main/cpp/test_items2/stop_car.cpp
index 32c6899..8071814 100644
--- a/lib/src/main/cpp/test_items2/stop_car.cpp
+++ b/lib/src/main/cpp/test_items2/stop_car.cpp
@@ -17,13 +17,7 @@
static bool BreakHandbreakReleaseSametime, OpenDoor;
-static const int ENGINE_MIN_ROTATE = 200;
-static const double MAX_STOP_DISTANCE = 150;
-
-static const uint32_t STOP_CAR_TIME = D_SEC(2);
-static const uint32_t OPEN_DOOR_TIMEOUT = D_SEC(15);
-static const double DISTANCE_TO_ROAD_EDGE_1 = 0.5;
-static const double DISTANCE_TO_ROAD_EDGE_2 = 0.3;
+static const int ENGINE_MIN_ROTATE = 100;
static double beginOdo;
static int setup;
@@ -38,7 +32,7 @@
BreakHandbreakReleaseSametime = false;
setup = 0;
OpenDoor = false;
- PlayTTS("璇烽潬杈瑰仠杞�", TtsBack);
+ PlayTTS(examParam.stop_car_begin_tts, TtsBack);
}
bool TestStopCar(road_exam_map &RoadMap, int roadIndex, const car_model *car, int moveDirect, const struct RtkTime *rtkTime) {
@@ -71,14 +65,14 @@
PointF p1 = CalcProjectionWithRoadEdge(RoadMap.roads[roadIndex].rightEdge, car->carXY[ car->right_front_tire[TIRE_OUTSIDE] ]);
PointF p2 = CalcProjectionWithRoadEdge(RoadMap.roads[roadIndex].rightEdge, car->carXY[ car->right_rear_tire[TIRE_OUTSIDE] ]);
- if (DistanceOf(p1, car->carXY[ car->right_front_tire[TIRE_OUTSIDE] ]) > DISTANCE_TO_ROAD_EDGE_1 ||
- DistanceOf(p2, car->carXY[ car->right_rear_tire[TIRE_OUTSIDE] ]) > DISTANCE_TO_ROAD_EDGE_1) {
+ if (DistanceOf(p1, car->carXY[ car->right_front_tire[TIRE_OUTSIDE] ]) > examParam.stop_car_edge_red_distance ||
+ DistanceOf(p2, car->carXY[ car->right_rear_tire[TIRE_OUTSIDE] ]) > examParam.stop_car_edge_red_distance) {
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);
return false;
- } else if (DistanceOf(p1, car->carXY[ car->right_front_tire[TIRE_OUTSIDE] ]) > DISTANCE_TO_ROAD_EDGE_2 ||
- DistanceOf(p2, car->carXY[ car->right_rear_tire[TIRE_OUTSIDE] ]) > DISTANCE_TO_ROAD_EDGE_2) {
+ } else if (DistanceOf(p1, car->carXY[ car->right_front_tire[TIRE_OUTSIDE] ]) > examParam.stop_car_edge_yellow_distance ||
+ DistanceOf(p2, car->carXY[ car->right_rear_tire[TIRE_OUTSIDE] ]) > examParam.stop_car_edge_yellow_distance) {
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);
@@ -115,7 +109,7 @@
OpenDoor = true;
}
- if (TimeGetDiff(rtkTime, &time) > OPEN_DOOR_TIMEOUT) {
+ if (TimeGetDiff(rtkTime, &time) > examParam.stop_car_open_door_allow_time) {
// 寮�闂ㄦ椂闂磋秴杩�15绉掞紝涓嶅悎鏍�
DEBUG("寮�闂ㄦ椂闂磋秴杩�15绉�");
AddExamFault(35, rtkTime);
@@ -125,12 +119,12 @@
if (OpenDoor && door.value == DOOR_CLOSE) {
DEBUG("瀹屾垚鍋滆溅");
- PlayTTS("闈犺竟鍋滆溅缁撴潫", NULL);
+ PlayTTS(examParam.stop_car_end_tts, NULL);
return false;
}
}
- if (ReadOdo() - beginOdo > MAX_STOP_DISTANCE) {
+ if (ReadOdo() - beginOdo > examParam.stop_car_limit_distance) {
// 150绫冲唴鏈仠杞︼紝涓嶅悎鏍�
DEBUG("鍋滆溅璺濈瓒呮爣锛岄潬杈瑰仠杞︾粨鏉�");
AddExamFault(33, rtkTime);
diff --git a/lib/src/main/cpp/test_items2/through_something.cpp b/lib/src/main/cpp/test_items2/through_something.cpp
index 1000b06..67583d7 100644
--- a/lib/src/main/cpp/test_items2/through_something.cpp
+++ b/lib/src/main/cpp/test_items2/through_something.cpp
@@ -27,10 +27,6 @@
#define STOP_CAR 8
#define OVER_SPEED 16
-static const double DISTANCE_STOP_CAR_TO_STOP_LINE = 3.0;
-static const double PASS_SCHOOL_MAX_SPEED = 30.0; // kmh
-static const double LASTEST_BREAK_POINT = 30.0;
-
static void SetTargetReduceRec(map<int, int> &table, int key, int status)
{
auto it = table.find(key);
@@ -85,7 +81,7 @@
int key = roadIndex * 100 + i;
int rec = GetTargetReduceRec(TargetReduceRec, key);
- if (distance > 1e-3 && distance < LASTEST_BREAK_POINT) {
+ if (distance > 1e-3 && distance < examParam.crossing_break_valid_distance) {
if (rec == NOT_ENTER) {
SetTargetReduceRec(TargetReduceRec, key, ENTER_Z);
}
@@ -94,13 +90,13 @@
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) {
+ } else if (distance > 1e-3 && distance < examParam.crossing_stop_valid_distance) {
// 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) {
+ } else if (distance > examParam.crossing_break_valid_distance + 5 && rec != NOT_ENTER) {
RemoveTargetReduceRec(TargetReduceRec, key);
}
}
@@ -126,7 +122,7 @@
nearbyTarget.push_back(distance1);
}
- if (distance1 > 1e-3 && distance1 < LASTEST_BREAK_POINT) {
+ if (distance1 > 1e-3 && distance1 < examParam.crossing_break_valid_distance) {
if (rec == NOT_ENTER) {
SetTargetReduceRec(TargetReduceRec2, key, ENTER_Z);
}
@@ -135,7 +131,7 @@
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) {
+ } else if (distance1 > examParam.crossing_break_valid_distance + 5 && rec != NOT_ENTER) {
RemoveTargetReduceRec(TargetReduceRec2, key);
}
} else if (RoadMap.specialAreas[i].type == SCHOOL_AREA) {
@@ -150,7 +146,7 @@
if (rec == NOT_ENTER) {
SetTargetReduceRec(TargetReduceRec2, key, ENTER_Z);
}
- if (ConvertMs2KMh(speed) > PASS_SCHOOL_MAX_SPEED && !(rec & OVER_SPEED)) {
+ if (ConvertMs2KMh(speed) > examParam.cross_school_max_speed && !(rec & OVER_SPEED)) {
SetTargetReduceRec(TargetReduceRec2, key, rec | OVER_SPEED);
DEBUG("閫氳繃瀛︽牎鍖哄煙瓒呴�� %f kmh", ConvertMs2KMh(speed));
--
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