From efc508204e781a1ce1d3f55c2b986198c9e32509 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期二, 18 八月 2020 17:35:26 +0800
Subject: [PATCH] 坐标
---
lib/src/main/cpp/driver_test.cpp | 81 ++++++++++++++------------
lib/src/main/cpp/test_items2/smart_item.h | 8 ++
lib/src/main/cpp/test_items2/smart_item.cpp | 8 ++
lib/src/main/cpp/master/comm_if.cpp | 4 +
lib/src/main/cpp/test_items2/road_exam.cpp | 35 +++++++++++
lib/src/main/cpp/CMakeLists.txt | 1
lib/src/main/cpp/rtk_platform/platform.cpp | 4
7 files changed, 100 insertions(+), 41 deletions(-)
diff --git a/lib/src/main/cpp/CMakeLists.txt b/lib/src/main/cpp/CMakeLists.txt
index 7fb8102..57f1558 100644
--- a/lib/src/main/cpp/CMakeLists.txt
+++ b/lib/src/main/cpp/CMakeLists.txt
@@ -45,6 +45,7 @@
test_items2/drive_straight.cpp
test_items2/stop_car.cpp
test_items2/operate_gear.cpp
+ test_items2/smart_item.cpp
rtk_module/rtk.cpp
rtk_module/virtual_rtk.cpp
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index 5c15aa1..9ffd1c0 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -505,47 +505,47 @@
{
static const char *NAME[] = {"OBD_SPEED",
"ENGINE_RPM",
- "GEAR",
- "TURN_SIGNAL_LAMP",
- "DIPPED_BEAM_LAMP",
- "FOG_LAMP",
- "CLEARANCE_LAMP",
- "FLASH_BEAM_LAMP",
- "MAIN_BEAM_LAMP",
- "SEATBELT",
- "ENGINE_START",
- "BREAK",
- "HAND_BREAK",
- "SECOND_BREAK",
- "DOOR",
- "SURROUND_CAR_1",
- "SURROUND_CAR_2",
- "SURROUND_CAR_3",
- "SURROUND_CAR_4",
+ "鎸′綅",
+ "杞悜鐏�",
+ "杩戝厜鐏�",
+ "闆剧伅",
+ "绀哄粨鐏�",
+ "杩滆繎鍏�",
+ "杩滃厜鐏�",
+ "瀹夊叏甯�",
+ "鍚姩寮曟搸",
+ "鍒硅溅",
+ "鎵嬪埞",
+ "鍓埞杞�",
+ "杞﹂棬",
+ "缁曡溅涓�",
+ "缁曡溅浜�",
+ "缁曡溅涓�",
+ "缁曡溅鍥�",
"CAR_STATUS_END"};
static const char *VALUE[] = {
- "INACTIVE",
- "HAZARD_LIGHTS",
- "LEFT_TURN_LIGHT",
- "RIGHT_TURN_LIGHT",
- "CLEARANCE_LIGHT",
- "DIPPED_BEAM_LIGHT",
- "MAIN_BEAM_LIGHT",
- "FLASH_BEAM_LIGHT",
- "FOG_LIGHT",
- "INSERT_SEATBELT",
- "ENGINE_START_ACTIVE",
- "GEAR_N",
- "GEAR_1",
- "GEAR_2",
- "GEAR_3",
- "GEAR_4",
- "GEAR_5",
- "GEAR_R",
- "BREAK_ACTIVE",
- "DOOR_CLOSE",
- "SURROUND_CAR_ACTIVE"
+ "鍏抽棴",
+ "鍛婅鐏�",
+ "宸﹁浆淇″彿",
+ "鍙宠浆淇″彿",
+ "绀哄粨鐏寒",
+ "杩戝厜鐏寒",
+ "杩滃厜鐏寒",
+ "杩滆繎鍒囨崲",
+ "闆剧伅浜�",
+ "鎻掑叆",
+ "鍦ㄥ惎鍔ㄤ綅",
+ "绌烘。",
+ "涓�妗�",
+ "浜屾。",
+ "涓夋。",
+ "鍥涙。",
+ "浜旀。",
+ "鍊掓尅",
+ "韪╀笅",
+ "闂ㄥ叧闂�",
+ "缁曡溅鍙戠敓"
};
@@ -574,6 +574,11 @@
DEBUG("杞﹁締鐘舵�� %s = %s", NAME[i], VALUE[ cs_temp[i] ]);
cs[i] = cs_temp[i];
+
+ char buff[128];
+
+ sprintf(buff, "%s锛�%s", NAME[i], VALUE[ cs_temp[i] ]);
+ PlayTTS(buff);
}
}
diff --git a/lib/src/main/cpp/master/comm_if.cpp b/lib/src/main/cpp/master/comm_if.cpp
index 1166297..e6c8db2 100644
--- a/lib/src/main/cpp/master/comm_if.cpp
+++ b/lib/src/main/cpp/master/comm_if.cpp
@@ -291,8 +291,10 @@
writer.Int(brief->tripTime);
writer.Key("cell_volt");
writer.Double(brief->cellVolt);
+ writer.Key("speed");
+ writer.Double(brief->speed);
writer.Key("engine");
- writer.Double(brief->engine);
+ writer.Int(brief->engine);
writer.Key("sas");
writer.Int(brief->sas);
writer.Key("key");
diff --git a/lib/src/main/cpp/rtk_platform/platform.cpp b/lib/src/main/cpp/rtk_platform/platform.cpp
index 25b8f82..1862a03 100644
--- a/lib/src/main/cpp/rtk_platform/platform.cpp
+++ b/lib/src/main/cpp/rtk_platform/platform.cpp
@@ -425,8 +425,8 @@
brief.odo = BUILD_UINT32(data[3], data[2], data[1], data[0]);
brief.trip = BUILD_UINT32(data[7], data[6], data[5], data[4]);
brief.tripTime = BUILD_UINT32(data[11], data[10], data[9], data[8]);
- brief.cellVolt = (double)(BUILD_UINT16(data[13], data[12])) / 10.0;
- brief.speed = (double)(BUILD_UINT16(data[15], data[14])) / 10.0;
+ brief.cellVolt = ((double) BUILD_UINT16(data[13], data[12])) / 10.0;
+ brief.speed = ((double) BUILD_UINT16(data[15], data[14])) / 10.0;
brief.engine = BUILD_UINT16(data[17], data[16]);
brief.sas = (short)BUILD_UINT16(data[19], data[18]);
brief.key = data[x++];
diff --git a/lib/src/main/cpp/test_items2/road_exam.cpp b/lib/src/main/cpp/test_items2/road_exam.cpp
index a1e3357..8bb5cea 100644
--- a/lib/src/main/cpp/test_items2/road_exam.cpp
+++ b/lib/src/main/cpp/test_items2/road_exam.cpp
@@ -51,6 +51,7 @@
int road;
int sep;
int no;
+ int total;
int guide;
} lane_t;
@@ -173,6 +174,8 @@
static bool AllCmp(road_exam_map &map);
static int CalcRoadIndex(int currRoadIndex, road_exam_map &RoadMap, const car_model *car);
+
+void AnalysisRoad(road_exam_map &RoadMap, int roadIndex, lane_t lane, const car_model *car);
void InitRoadExam(road_exam_map &RoadMap)
{
@@ -768,6 +771,7 @@
lane.road = roadIndex;
lane.sep = i;
lane.no = CLP.size();
+ lane.total = CLP.size() + 1;
for (int x = 0; x < CLP.size(); ++x) {
if (CLP[x].pos == 'L') {
@@ -779,6 +783,12 @@
return true;
}
}
+
+ lane.road = roadIndex;
+ lane.sep = 0;
+ lane.no = 0;
+ lane.total = 0;
+ lane.guide = 0;
return false;
}
@@ -1380,6 +1390,8 @@
oldid = Lane.guide;
DetectLane(RoadMap, car, currExamMapIndex, rtkTime);
+
+// DEBUG("Lane淇℃伅 road %d sep %d total %d no %d guide %d", Lane.road, Lane.sep, Lane.total, Lane.no, Lane.guide);
if (Lane.guide > 0 && currExamMapIndex >= 0) {
int stop_line;
@@ -1394,6 +1406,10 @@
if (Lane.guide != oldid) {
DEBUG("瀵煎悜绫诲瀷鍒囨崲 %d", Lane.guide);
+ }
+
+ if (currExamMapIndex >= 0) {
+ AnalysisRoad(RoadMap, currExamMapIndex, Lane, car);
}
// 妫�娴嬪帇绾跨姸鎬�
@@ -1792,3 +1808,22 @@
}
return true;
}
+
+void AnalysisRoad(road_exam_map &RoadMap, int roadIndex, lane_t lane, const car_model *car)
+{
+ double distance = 0;
+
+ if (roadIndex < 0 || roadIndex >= RoadMap.roads.size())
+ return;
+
+ for (int i = 0; i < RoadMap.roads[roadIndex].rightEdge.size(); ++i) {
+ for (int j = 1; j < RoadMap.roads[roadIndex].rightEdge[i].points.size(); ++j) {
+ PointF point = RoadMap.roads[roadIndex].rightEdge[i].points[j];
+ distance = CalcDistanceReference(car->carXY[car->axial[AXIAL_FRONT]], point, RoadMap.roads[roadIndex].rightEdge);
+ if (distance > 1e-3) {
+ DEBUG("鐩撮亾鍓╀綑璺濈 %f", distance);
+ return;
+ }
+ }
+ }
+}
diff --git a/lib/src/main/cpp/test_items2/smart_item.cpp b/lib/src/main/cpp/test_items2/smart_item.cpp
new file mode 100644
index 0000000..72e98ef
--- /dev/null
+++ b/lib/src/main/cpp/test_items2/smart_item.cpp
@@ -0,0 +1,8 @@
+//
+// Created by YY on 2020/8/18.
+//
+
+#include "smart_item.h"
+#include "../driver_test.h"
+
+
diff --git a/lib/src/main/cpp/test_items2/smart_item.h b/lib/src/main/cpp/test_items2/smart_item.h
new file mode 100644
index 0000000..9eb32a8
--- /dev/null
+++ b/lib/src/main/cpp/test_items2/smart_item.h
@@ -0,0 +1,8 @@
+//
+// Created by YY on 2020/8/18.
+//
+
+#ifndef MYAPPLICATION2_SMART_ITEM_H
+#define MYAPPLICATION2_SMART_ITEM_H
+
+#endif //MYAPPLICATION2_SMART_ITEM_H
--
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