From d9dc7419b35b7762bc5222cf874ccc39d2d66f43 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期一, 10 八月 2020 18:36:31 +0800
Subject: [PATCH] 坐标
---
lib/src/main/cpp/master/comm_if.cpp | 47 +++++++++++++++
lib/src/main/cpp/test_items2/road_exam.cpp | 95 +++++++++++++++++++++++++++++--
lib/src/main/cpp/driver_test.h | 21 +++++--
3 files changed, 148 insertions(+), 15 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.h b/lib/src/main/cpp/driver_test.h
index cbad97b..69173a1 100644
--- a/lib/src/main/cpp/driver_test.h
+++ b/lib/src/main/cpp/driver_test.h
@@ -141,23 +141,32 @@
// 涓�缁勫钩琛岀殑鍒嗛亾绾�
typedef struct {
- std::vector<lane_direct_t> lane_direct;
+ std::vector<lane_direct_t> lane_direct; // 姣忎竴杞﹂亾鐨勮繍琛屾柟鍚�
std::vector<std::vector<segment_t>> lines; // 姣忔鍩熶笅鐨勫钩琛岀殑涓�缁勭嚎
} separate_t;
typedef struct {
+ int active;
+ string tts;
+ bool stopFlag;
+ Line line;
+} stop_line_t;
+
+typedef struct {
int id;
Line startLine;
- Line stopLine;
- int active; // 鍒拌揪璺彛灏鹃儴鐨勮杩涙柟鍚�
+// Line stopLine;
+// int active; // 鍒拌揪璺彛灏鹃儴鐨勮杩涙柟鍚�
bool activeBreak; // 璺彛鍒硅溅鍑忛��
bool activeStop; // 璺彛鍋滆溅鐬湜
bool errorLane; // 閿欒杞﹂亾
int targetRoad;
- int stopFlag;
- string tts;
- bool arrivedTail;
+// int stopFlag;
+// string tts;
+// bool arrivedTail;
Polygon area; // 鏁翠釜閬撹矾鍖哄煙
+
+ std::vector<stop_line_t> stopLine;
std::vector<edge_t> leftEdge;
std::vector<edge_t> rightEdge;
std::vector<separate_t> separate;
diff --git a/lib/src/main/cpp/master/comm_if.cpp b/lib/src/main/cpp/master/comm_if.cpp
index 5ff520f..57cd155 100644
--- a/lib/src/main/cpp/master/comm_if.cpp
+++ b/lib/src/main/cpp/master/comm_if.cpp
@@ -808,7 +808,7 @@
MakeLine(&road.startLine, &p1, &p2);
}
- if (itr->HasMember("stop_line")) {
+ /*if (itr->HasMember("stop_line")) {
const Value &a2 = (*itr)["stop_line"];
PointF p1, p2;
@@ -824,7 +824,52 @@
}
MakeLine(&road.stopLine, &p1, &p2);
+ }*/
+ if (itr->HasMember("crossing") && itr->IsArray()) {
+ const Value &a2 = (*itr)["crossing"];
+
+ vector<stop_line_t> crossing;
+
+ for (Value::ConstValueIterator itr2 = a2.Begin(); itr2 != a2.End(); ++itr2) {
+ stop_line_t temp;
+ if (!itr2->IsObject()) {
+ break;
+ }
+ if (itr2->HasMember("active")) {
+ const Value &s = (*itr2)["active"];
+ temp.active = s.GetInt();
+ }
+ if (itr2->HasMember("stop_flag")) {
+ const Value &s = (*itr2)["stop_flag"];
+ temp.stopFlag = s.GetInt();
+ }
+ if (itr2->HasMember("tts")) {
+ const Value &s = (*itr2)["tts"];
+ temp.tts = s.GetString();
+ }
+ if (itr2->HasMember("line")) {
+ const Value &s = (*itr2)["line"];
+ PointF p1, p2;
+ int n = 0;
+
+ if (s.IsArray() && s.Size() >= 2) {
+ for (Value::ConstValueIterator itr3 = s.Begin(); itr3 != s.End(); ++itr3, ++n) {
+ if (n == 0) {
+ p1 = mapPoints[(*itr3).GetInt()];
+ } else if (n == 1) {
+ p2 = mapPoints[(*itr3).GetInt()];
+ }
+ }
+ MakeLine(&temp.line, &p1, &p2);
+ }
+ }
+
+ crossing.push_back(temp);
+ }
+
+ road.stopLine.assign(crossing.begin(), crossing.end());
}
+
if (itr->HasMember("active")) {
const Value &s = (*itr)["active"];
DEBUG("璺彛鍔ㄤ綔 %d", s.GetInt());
diff --git a/lib/src/main/cpp/test_items2/road_exam.cpp b/lib/src/main/cpp/test_items2/road_exam.cpp
index 3a1a5b0..8e42c1e 100644
--- a/lib/src/main/cpp/test_items2/road_exam.cpp
+++ b/lib/src/main/cpp/test_items2/road_exam.cpp
@@ -1379,11 +1379,11 @@
ArrivedRoadEnd(RoadMap.roads[currExamMapIndex], car, CarModelList);
- if (CrashTheLine(RoadMap.roads[currExamMapIndex].stopLine, car, CarModelList)) {
- DEBUG("涓嬩竴涓洰鏍囪矾 id = %d", RoadMap.roads[currExamMapIndex].targetRoad);
- nextRoadId = RoadMap.roads[currExamMapIndex].targetRoad;
- checkTurn = true;
- }
+// if (CrashTheLine(RoadMap.roads[currExamMapIndex].stopLine, car, CarModelList)) {
+// DEBUG("涓嬩竴涓洰鏍囪矾 id = %d", RoadMap.roads[currExamMapIndex].targetRoad);
+// nextRoadId = RoadMap.roads[currExamMapIndex].targetRoad;
+// checkTurn = true;
+// }
if (checkTurn) {
// 妫�鏌ユ槸鍚︽寔缁浆鍚�
@@ -1988,7 +1988,7 @@
* @param car
* @param CarModelList
*/
-static void ArrivedRoadEnd(road_t &road, const car_model *car, LIST_CAR_MODEL &CarModelList)
+/*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] ]);
@@ -2009,6 +2009,84 @@
}
} else if (road.arrivedTail) {
road.arrivedTail = false;
+ }
+}*/
+
+// 璺彛锛屾彁绀猴紝鍓�30绫宠繘鍏ワ紝 绂诲紑
+// 浜鸿閬擄紝杞︾珯锛屽墠30绫宠繘鍏ワ紝绂诲紑
+// 瀛︽牎锛岃繘鍏ワ紝绂诲紑
+
+map<int, int> CrossingStatus;
+
+static void ChangeCrossingStatus(int roadIndex, int index, int status)
+{
+ int key = roadIndex * 100 + index;
+
+ auto it = CrossingStatus.find(key);
+
+ if (it != CrossingStatus.end()) {
+ CrossingStatus.erase(it);
+ }
+ CrossingStatus.insert(pair<int, int>(key, status));
+}
+
+static int GetCrossingStatus(int roadIndex, int index)
+{
+ int key = roadIndex * 100 + index;
+
+ auto it = CrossingStatus.find(key);
+
+ if (it != CrossingStatus.end()) {
+ return it->second;
+ }
+ return -1;
+}
+
+enum {
+ CROSSING_STATUS_INVALID = -1,
+ CROSSING_STATUS_GUIDE,
+ CROSSING_STATUS_REDUCE_SPEED,
+ CROSSING_STATUS_BREAK_CAR,
+ CROSSING_STATUS_STOP_CAR
+};
+
+static void CheckCrossing(int roadIndex, road_t &road, const car_model *car, LIST_CAR_MODEL &CarModelList)
+{
+ for (int i = 0; i < road.stopLine.size(); ++i) {
+ if (CrashTheLine(road.stopLine[i].line, car, CarModelList)) {
+ if (road.stopLine[i].stopFlag) {
+ if (GetCrossingStatus(roadIndex, i) != CROSSING_STATUS_STOP_CAR) {
+
+ }
+ } else {
+ if (GetCrossingStatus(roadIndex, i) != CROSSING_STATUS_BREAK_CAR) {
+
+ }
+ }
+ ChangeCrossingStatus(roadIndex, i, CROSSING_STATUS_INVALID);
+ } else {
+
+ }
+ PointF point;
+ double distance;
+
+ point.X = road.stopLine[i].line.X1;
+ point.Y = road.stopLine[i].line.Y1;
+
+ distance = CalcDistanceReference(car->carXY[car->axial[AXIAL_FRONT]], point, road.rightEdge);
+
+ if (distance > 10 && distance < 50) {
+ if (GetCrossingStatus(roadIndex, i) == CROSSING_STATUS_INVALID) {
+ if (!road.stopLine[i].tts.empty()) {
+ PlayTTS(road.stopLine[i].tts.c_str());
+ }
+ ChangeCrossingStatus(roadIndex, i, CROSSING_STATUS_GUIDE);
+ }
+ } else if (distance > 0 && distance < 30) {
+ if (GetCrossingStatus(roadIndex, i) != 1) {
+ ChangeCrossingStatus(roadIndex, i, 1);
+ }
+ }
}
}
@@ -2084,7 +2162,7 @@
MakeLine(&extLine, &car->carXY[ car->axial[AXIAL_FRONT] ], &extPoint);
// 璺彛鍒硅溅鐐�
- for (int i = 0; i < map.roads.size(); ++i) {
+/* 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 ) {
@@ -2122,7 +2200,8 @@
}
}
}
- }
+ }*/
+
// 浜鸿閬撱�佸叕浜ょ珯鍒硅溅鐐癸紱瀛︽牎闄愰�熷尯
// DEBUG("琛ュ叏鐗规畩鍖哄煙 size = %d", map.specialAreas.size());
for (int i = 0; i < map.specialAreas.size(); i++) {
--
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