//
// Created by YY on 2020/3/17.
//

#include "road_exam.h"
#include "../driver_test.h"
#include "../utils/xconvert.h"
#include "../common/apptimer.h"
#include "../jni_log.h"
#include "../defs.h"
#include "../test_common/car_sensor.h"
#include "../native-lib.h"
#include "through_something.h"
#include "../master/comm_if.h"

#include <vector>
#include <list>
#include <string>
#include <cstdlib>

#define DEBUG(fmt, args...)     LOGD("<road_exam> <%s>: " fmt, __func__, ##args)

using namespace std;

#define TURN_CHECK_CNT          4

static const int TURN_THRESHOLD = 5;
static const int TURN_CHECK_INTERVAL = 500;
const double SLIDE_DISTANCE_THRESHOLD_RED = 0.3;
const double SLIDE_DISTANCE_THRESHOLD_YELLOW = 0.1;

static bool occurCrashRedLine;
static bool occurCrashGreenLine;
static bool occurOverSpeed;
static int checkCrashGreenTimeout;
static char carIntersectionOfGreenLine;
static int currTurnSignalStatus;
static int turnSignalStatusWhenCrashGreenLine;
static bool reportTurnSignalError;
static int prevMoveDirect;
static uint32_t stopTimepoint = 0;
static bool reportStopCarOnRedArea;
static PointF stopPoint;
static bool prevGearError = false;
static bool prevGearNSlide = false;

static bool slideLongDistance;
static bool slideNormalDistance;
static bool occurSlide;

static struct drive_timer {
    int hour;
    int min;
    int sec;
    int msec;
} crashGreenRunTime, crashGreenCmpTime, crashGreenStartTime, turnSignalChangeTime;

static struct drive_timer gearErrorTimePoint;
static struct drive_timer gearNSlideTimePoint;

static int gearErrorTime;
static int gearNSlideTime;

static int currExamMapIndex;

static const uint32_t GEAR_N_SLIDE_TIMEOUT = D_SEC(5);
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_ROAD_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 = 40.0 * 1000.0 / 3600.0;
static const int SPEED_GEAR_TABLE[][2] = {{0, 20}, {5, 30}, {15, 40}, {25, 10000}, {35, 10000}};

static void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime);
static char isTurn(int currYaw, int prevYaw);
static char CheckCarTurn(LIST_CAR_MODEL &CarModelList);
static bool CrashRedLine(LIST_ROAD_MAP &RoadMapList, const car_model *car);
static bool CrashRedArea(LIST_ROAD_MAP &RoadMapList, const car_model *car);
static bool CrashGreenLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, PointF &p1, PointF &p2);
static int CrashTriggerLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList);
static int FindMapIndexById(int id, LIST_ROAD_MAP &RoadMapList);

void InitRoadExam(void)
{
    DEBUG("Start road_exam");

    crashGreenCmpTime.hour = -1;
    occurCrashRedLine = false;
    occurCrashGreenLine = false;
    occurOverSpeed = false;
    checkCrashGreenTimeout = 0;
    carIntersectionOfGreenLine = 0;

    reportTurnSignalError = false;
    currTurnSignalStatus = OFF_LIGHT;
    prevMoveDirect = 0;

    reportStopCarOnRedArea = false;
    occurSlide = false;
    slideLongDistance = false;
    slideNormalDistance = false;
    prevGearError = false;
    gearErrorTime = 0;
    prevGearNSlide = false;
    gearNSlideTime = 0;

    currExamMapIndex = -1;
}

void TestRoadGeneral(LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
    // 超速检测
    if (moveDirect != 0 && speed > MAX_SPEED) {
        if (!occurOverSpeed) {
            occurOverSpeed = true;
            // 超速，不合格
            AddExamFault(10, rtkTime);
        }
    } else {
        occurOverSpeed = false;
    }

    // 挡位匹配检测
    bool currGearError = false;
    bool currGearNSlide = false;

    switch (ReadCarStatus(GEAR)) {
        case GEAR_N:
            if (moveDirect != 0) {
                // 空档滑行
                currGearNSlide = true;
            }
            break;
        case GEAR_1:
            if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[0][0] || ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[0][1]) {
                currGearError = true;
            }
            break;
        case GEAR_2:
            if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[1][0] || ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[1][1]) {
                currGearError = true;
            }
            break;
        case GEAR_3:
            if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[2][0] || ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[2][1]) {
                currGearError = true;
            }
            break;
        case GEAR_4:
            if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[3][0] || ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[3][1]) {
                currGearError = true;
            }
            break;
        case GEAR_5:
            if (ConvertMs2KMh(speed) < SPEED_GEAR_TABLE[4][0] || ConvertMs2KMh(speed) > SPEED_GEAR_TABLE[4][1]) {
                currGearError = true;
            }
            break;
        default:break;
    }
    // 空档滑行超时
    if (currGearNSlide && prevGearNSlide) {
        gearNSlideTime += TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
                                      gearNSlideTimePoint.hour, gearNSlideTimePoint.min, gearNSlideTimePoint.sec, gearNSlideTimePoint.msec*10);
    }
    if (gearNSlideTime > GEAR_N_SLIDE_TIMEOUT) {
        // 空档滑行超5秒，不合格
        DEBUG("挡位滑行，超过5秒");
        AddExamFault(8, rtkTime);
        gearNSlideTime = 0;
    }

    prevGearNSlide = currGearNSlide;
    if (prevGearNSlide) {
        Rtk2DriveTimer(gearNSlideTimePoint, rtkTime);
    } else {
        gearNSlideTime = 0;
    }
    // 挡位不匹配超时
    if (currGearError && prevGearError) {
        gearErrorTime += TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
                    gearErrorTimePoint.hour, gearErrorTimePoint.min, gearErrorTimePoint.sec, gearErrorTimePoint.msec*10);
    }
    if (gearErrorTime > GEAR_ERROR_TIMEOUT) {
        // 累计15秒，挡位-车速不匹配，不合格
        DEBUG("挡位错误超过15秒");
        AddExamFault(6, rtkTime);
        gearErrorTime = 0;
    }

    prevGearError = currGearError;
    if (prevGearError) {
        Rtk2DriveTimer(gearErrorTimePoint, rtkTime);
    }
    
    // 起步后滑
    if (moveDirect != prevMoveDirect) {
        if (moveDirect == 0) {
            stopTimepoint = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);
            reportStopCarOnRedArea = false;

            DEBUG("停车了 %d %d %d %d %d %d %d", rtkTime->YY, rtkTime->MM, rtkTime->DD, rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss);
        } else if (moveDirect == -1 && prevMoveDirect == 0) {
            DEBUG("开始后滑");
            stopPoint = car->basePoint;
            occurSlide = true;
        }
        prevMoveDirect = moveDirect;
    } else if (moveDirect == 0) {
        uint32_t tp = TimeMakeComposite(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10);

        if (tp - stopTimepoint >= STOP_CAR_TIME && !reportStopCarOnRedArea && CrashRedArea(RoadMapList, car)) {
            // 停车超2秒，停在红区，不合格
            AddExamFault(16, rtkTime);
            DEBUG("禁停区停车");
            reportStopCarOnRedArea = true;
        }
    } else if (moveDirect == -1) {
        if (occurSlide) {
            double slideDistance = DistanceOf(stopPoint, car->basePoint);

            if (slideDistance > SLIDE_DISTANCE_THRESHOLD_YELLOW) {
                slideNormalDistance = true;
            }

            if (slideDistance > SLIDE_DISTANCE_THRESHOLD_RED && !slideLongDistance) {
                // 后滑超过30厘米, 不合格
                AddExamFault(5, rtkTime);
                DEBUG("后滑超过30厘米");
                slideLongDistance = true;
            }
        }
    } else {
        if (slideNormalDistance) {
            // 后滑，扣10分
            AddExamFault(18, rtkTime);
            DEBUG("后滑超过10厘米, 但不超过30厘米");
        }

        slideNormalDistance = false;
        slideLongDistance = false;
        occurSlide = false;
    }

    switch (ReadCarStatus(TURN_SIGNAL_LAMP)) {
        case LEFT_TURN_LIGHT:
            if (currTurnSignalStatus != LEFT_TURN_LIGHT) {
                currTurnSignalStatus = LEFT_TURN_LIGHT;
                Rtk2DriveTimer(turnSignalChangeTime, rtkTime);
            }
            break;
        case RIGHT_TURN_LIGHT:
            if (currTurnSignalStatus != RIGHT_TURN_LIGHT) {
                currTurnSignalStatus = RIGHT_TURN_LIGHT;
                Rtk2DriveTimer(turnSignalChangeTime, rtkTime);
            }
            break;
        default:
            currTurnSignalStatus = ReadCarStatus(TURN_SIGNAL_LAMP);
            break;
    }


    // 检查是否持续转向
    char turnDirect = CheckCarTurn(CarModelList);
    if (turnDirect == 'L') {
        PlayTTS("左1", 5692);
        if (currTurnSignalStatus != LEFT_TURN_LIGHT) {
            if (!reportTurnSignalError) {
                DEBUG("没打左转灯");
                // 没打左转灯，不合格
                AddExamFault(13, rtkTime);
                reportTurnSignalError = true;
            }
        } else if (TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
                               turnSignalChangeTime.hour, turnSignalChangeTime.min, turnSignalChangeTime.sec, turnSignalChangeTime.msec*10) < TURN_SIGNAL_LAMP_ADVANCE) {
            if (!reportTurnSignalError) {
                DEBUG("转向灯时间不足");
                // 不足3秒，不合格
                AddExamFault(14, rtkTime);
                reportTurnSignalError = true;
            }
        }
    } else if (turnDirect == 'R') {
        PlayTTS("右1", 5692);
        if (currTurnSignalStatus != RIGHT_TURN_LIGHT) {
            if (!reportTurnSignalError) {
                DEBUG("没打右转灯");
                // 没打右转灯，不合格
                AddExamFault(13, rtkTime);
                reportTurnSignalError = true;
            }
        } else if (TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
                               turnSignalChangeTime.hour, turnSignalChangeTime.min, turnSignalChangeTime.sec, turnSignalChangeTime.msec*10) < TURN_SIGNAL_LAMP_ADVANCE) {
            if (!reportTurnSignalError) {
                DEBUG("转向灯时间不足");
                // 不足3秒，不合格
                AddExamFault(14, rtkTime);
                reportTurnSignalError = true;
            }
        }
    } else {
        reportTurnSignalError = false;
    }

    // 撞红线
    if (CrashRedLine(RoadMapList, car)) {
        if (!occurCrashRedLine) {
            // 车辆行驶中骑轧车道中心实线或者车道边缘实线，不合格
            DEBUG("撞道路边缘线");
            AddExamFault(11, rtkTime);
            occurCrashRedLine = true;
        }
    } else {
        occurCrashRedLine = false;
    }

    // 撞绿线
    static PointF p1, p2;
    if (CrashGreenLine(RoadMapList, car, p1, p2)) {
        // 压虚线
        if (moveDirect != 0) {
            if (checkCrashGreenTimeout == 0) {
                checkCrashGreenTimeout = 1;
                Rtk2DriveTimer(crashGreenRunTime, rtkTime);         // 运动中压虚线的开始时间点
            } else if (checkCrashGreenTimeout == 1) {
                uint32_t diff = TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss*10,
                        crashGreenRunTime.hour, crashGreenRunTime.min, crashGreenRunTime.sec, crashGreenRunTime.msec*10);

                if (diff >= CRASH_DOTTED_LINE_TIMEOUT) {
                    DEBUG("长时间压虚线");
                    checkCrashGreenTimeout = 2;
                    // 长时间骑轧车道分界线行驶，不合格
                    AddExamFault(12, rtkTime);
                }
            }
        } else {
            // 停车就不计时了
            checkCrashGreenTimeout = 0;
        }

        // 检测当前车辆于虚线的位置，做变道检测;
        // 检测是否3秒前有开启对应之转向灯
        if (!occurCrashGreenLine) {
            occurCrashGreenLine = true;
            // 记录开始压线的时间，不确定是否有变道意图，待确认变道后再处理之
            Rtk2DriveTimer(crashGreenStartTime, rtkTime);
            turnSignalStatusWhenCrashGreenLine = currTurnSignalStatus;
        }

        // p1 ---------------> p2
        double angle = car->yaw - YawOf(p2, p1);
        if (angle < 0 || angle > 180) {
            // 右侧
            carIntersectionOfGreenLine = 'R';
        } else {
            // 左侧
            carIntersectionOfGreenLine = 'L';
        }
    } else {
        // 不再压虚线
        if (occurCrashGreenLine) {
            int inter = IntersectionOfLine(p1, p2, car->basePoint);

            // 完成跨线动作
            if ((inter == 1 && carIntersectionOfGreenLine == 'R') ||
                    (inter == -1 && carIntersectionOfGreenLine == 'L')) {
                // 比较上次跨线时间
                if (crashGreenCmpTime.hour >= 0) {
                    uint32_t diff = TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss,
                                                rtkTime->mss * 10,
                                                crashGreenCmpTime.hour, crashGreenCmpTime.min,
                                                crashGreenCmpTime.sec, crashGreenCmpTime.msec * 10);

                    if (diff < CHANGE_ROAD_MIN_INTERVAL) {
                        DEBUG("===================== 连续变道 ============!!");
                        // 连续变道，不合格
                        AddExamFault(15, rtkTime);
                    }
                }

                // 记录本次变道时间点
                Rtk2DriveTimer(crashGreenCmpTime, rtkTime);

                // 检查变道前，是否提前转向灯
                if (inter == 1) {
                    PlayTTS("左2", 5698);
                    // 向左侧变道
                    DEBUG("向左侧变道");
                    if (turnSignalStatusWhenCrashGreenLine != LEFT_TURN_LIGHT) {
                        DEBUG("变调未打灯!!");
                        // 没打灯，不合格
                        AddExamFault(13, rtkTime);
                    }
                } else {
                    PlayTTS("右2", 5698);
                    // 向右侧变道
                    DEBUG("向右侧变道");
                    if (turnSignalStatusWhenCrashGreenLine != RIGHT_TURN_LIGHT) {
                        DEBUG("变调未打灯!!");
                        // 没打灯，不合格
                        AddExamFault(13, rtkTime);
                    }
                }
            }
        }
        occurCrashGreenLine = false;
        checkCrashGreenTimeout = 0;
    }

    // 触发线检测
    if (currExamMapIndex == -1) {
        currExamMapIndex = CrashTriggerLine(RoadMapList, car, CarModelList);
        if (currExamMapIndex != -1) {
            DEBUG("碰撞触发线");

            MA_EnterMap(RoadMapList[currExamMapIndex].id, RoadMapList[currExamMapIndex].type, 1);
            StartThroughExam(currExamMapIndex, RoadMapList);
        }
    } else {
        int prevIdx = currExamMapIndex;

        currExamMapIndex = ExecuteThroughExam(currExamMapIndex, RoadMapList, car,
        CarModelList, speed, moveDirect, rtkTime);

        if (currExamMapIndex == -1) {
            MA_EnterMap(RoadMapList[prevIdx].id, RoadMapList[prevIdx].type, 1);
        }
    }
}

bool ExitSonArea(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car)
{
    bool ret = false;

    if (index < 0 || index > RoadMapList.size())
        return true;

    if (RoadMapList[index].area.point != NULL) {
        // 需要车身全部离开
        Polygon carBody;

        carBody.num = car->bodyNum;
        carBody.point = (PointF *)malloc(carBody.num * sizeof(PointF));
        for (int i = 0; i < carBody.num; ++i) {
            carBody.point[i] = car->carXY[car->body[i]];
        }

        if (IntersectionOf(&carBody, &RoadMapList[index].area) == GM_None) {
            ret = true;
        }

        free(carBody.point);
    }

    return ret;
}

bool CrashSonRedLine(int index, LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
    bool ret = false;

    if (CarModelList.size() < 5 || index < 0 || index >= RoadMapList.size())
        return ret;

    Polygon trace;

    trace.num = 5;          // 最近5个轮轨迹
    trace.point = (PointF *) malloc(sizeof(PointF) * trace.num);

    list<car_model *>::iterator iter = CarModelList.begin();

    int pn = 0;
    while (iter != CarModelList.end() && pn < trace.num) {
        trace.point[pn++] = ((car_model *)(*iter))->carXY[((car_model *)(*iter))->left_front_tire[TIRE_OUTSIDE]];
        ++iter;
    }

    // 每条线都检测
    for (int j = 0; j < RoadMapList[index].redLineNum; ++j) {
        Line red_line;

        int kp = 0;

        // 触发线一般应该只有首尾2点（id, p1, p2）
        for (int k = 1; k < RoadMapList[index].redLine[j].num; ++k) {
            MakeLine(&red_line, &RoadMapList[index].redLine[j].point[kp],
                     &RoadMapList[index].redLine[j].point[k]);

            int pp = 0;
            for (int p = 1; p < pn; ++p) {
                Line trace_line;
                MakeLine(&trace_line, &trace.point[pp], &trace.point[p]);

                if (IntersectionOf(trace_line, red_line) == GM_Intersection) {
                    // 碰到触发线
                    ret = true;
                    goto SEARCH_SON_RED_LINE_END;
                }

                pp = p;
            }

            kp = k;
        }
    }

    SEARCH_SON_RED_LINE_END:
    free(trace.point);

    return ret;
}

static void Rtk2DriveTimer(struct drive_timer &tm, const struct RtkTime *rtkTime)
{
    tm.hour = rtkTime->hh;
    tm.min = rtkTime->mm;
    tm.sec = rtkTime->ss;
    tm.msec = rtkTime->mss;
}

static char isTurn(int currYaw, int prevYaw)
{
//    DEBUG("currYaw %d prevYaw %d", currYaw, prevYaw);

    int deltaAng = 0;

    if (ABS(currYaw - prevYaw) > 180) {
        deltaAng = 360 - ABS(currYaw-prevYaw);
    } else {
        deltaAng = ABS(currYaw - prevYaw);
    }

//    DEBUG("角度差值 %d", deltaAng);

    if (deltaAng >= TURN_THRESHOLD) {
        if((( currYaw + 360 - prevYaw) % 360) < 180) {
//            DEBUG("右转");
            return 'R';
        } else {
//            DEBUG("左转");
            return 'L';
        }
    }

    return 0;
}

static char CheckCarTurn(LIST_CAR_MODEL &CarModelList)
{
    // 最近3秒内，每秒的角度差大于10度，且方向相同，连续3秒，认为转向
    if (CarModelList.size() < 1)
        return false;

    list<car_model *>::iterator iter = CarModelList.begin();

    car_model *c1 = *iter, *c2;

    ++iter;

    char turn[TURN_CHECK_CNT] = {0};
    int checkCnt = 0;

//    DEBUG("CheckCarTurn.........");

    while (iter != CarModelList.end() && checkCnt < TURN_CHECK_CNT) {
        c2 = *iter;

        uint32_t tdiff = TimeGetDiff(c1->tm.hh, c1->tm.mm, c1->tm.ss, c1->tm.mss * 10, c2->tm.hh, c2->tm.mm, c2->tm.ss, c2->tm.mss*10);

        if (tdiff >= TURN_CHECK_INTERVAL) {
            turn[checkCnt] = isTurn((int)c1->yaw, (int)c2->yaw);
//            DEBUG("%c  角度比较 %02d:%02d:%02d.%03d  %02d:%02d:%02d.%03d", turn[checkCnt], c1->tm.hh, c1->tm.mm, c1->tm.ss, c1->tm.mss * 10, c2->tm.hh, c2->tm.mm, c2->tm.ss, c2->tm.mss*10);
            if (turn[checkCnt] == 0) {
                break;
            }

            c1 = c2;
            checkCnt++;
        }

        ++iter;
    }

    int i = 0;
    for (; checkCnt == TURN_CHECK_CNT && i < TURN_CHECK_CNT-1; ++i) {
        if (turn[i] != turn[i+1])
            break;
    }

    if (i == TURN_CHECK_CNT-1) {
        DEBUG("左右转确认 %c", turn[0]);
        return turn[0];
    }

    return 0;
}

/*****************************************************
 * CrashRedLine 整个考试区域的道路边缘线，实线等。
 * 按车轮碰触计算，车身不计
 */
static bool CrashRedLine(LIST_ROAD_MAP &RoadMapList, const car_model *car)
{
    Line frontAxle, rearAxle;

    MakeLine(&frontAxle, &car->carXY[car->left_front_tire[TIRE_OUTSIDE]], &car->carXY[car->right_front_tire[TIRE_OUTSIDE]]);
    MakeLine(&rearAxle, &car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], &car->carXY[car->right_rear_tire[TIRE_OUTSIDE]]);

    for (int i = 0; i < RoadMapList.size(); ++i) {
        if (RoadMapList[i].type == GENERAL_MAP) {

            // 每条线都检测
            for (int j = 0; j < RoadMapList[i].redLineNum; ++j) {
                Line red_line;
                int kp = 0;

                for (int k = 1; k < RoadMapList[i].redLine[j].num; ++k) {
                    MakeLine(&red_line, &RoadMapList[i].redLine[j].point[kp], &RoadMapList[i].redLine[j].point[k]);

                    if (IntersectionOf(red_line, frontAxle) == GM_Intersection ||
                        IntersectionOf(red_line, rearAxle) == GM_Intersection) {
                        return true;
                    }
                    kp = k;
                }
            }
            break;
        }
    }
    return false;
}

/**********************************************************
 * 按整个车身是否覆盖计算
 * @param RoadMapList
 * @param car
 * @return
 */
static bool CrashRedArea(LIST_ROAD_MAP &RoadMapList, const car_model *car)
{
    bool ret = false;

    Polygon carBody;

    carBody.num = car->bodyNum;
    carBody.point = (PointF *)malloc(carBody.num * sizeof(PointF));
    for (int i = 0; i < carBody.num; ++i) {
        carBody.point[i] = car->carXY[car->body[i]];
    }

    for (int i = 0; i < RoadMapList.size(); ++i) {
        if (RoadMapList[i].type == GENERAL_MAP) {

            // 每条红区都检测
            for (int j = 0; j < RoadMapList[i].redAreaNum; ++j) {
                if (IntersectionOf(&carBody, &RoadMapList[i].redArea[j]) != GM_None) {
                    ret = true;
                }
            }
            break;
        }
    }

    free(carBody.point);

    return ret;
}

/**************************************************
 * 车轮触碰道路虚线。检测行驶时间超长；变道情况；
 * @param RoadMapList
 * @param car
 */
static bool CrashGreenLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, PointF &p1, PointF &p2)
{
    Line frontAxle, rearAxle;

    MakeLine(&frontAxle, &car->carXY[car->left_front_tire[TIRE_OUTSIDE]], &car->carXY[car->right_front_tire[TIRE_OUTSIDE]]);
    MakeLine(&rearAxle, &car->carXY[car->left_rear_tire[TIRE_OUTSIDE]], &car->carXY[car->right_rear_tire[TIRE_OUTSIDE]]);

    for (int i = 0; i < RoadMapList.size(); ++i) {
        if (RoadMapList[i].type == GENERAL_MAP) {

            // 每条线都检测
            for (int j = 0; j < RoadMapList[i].greenLineNum; ++j) {
                Line green_line;
                int kp = 0;

                for (int k = 1; k < RoadMapList[i].greenLine[j].num; ++k) {
                    MakeLine(&green_line, &RoadMapList[i].greenLine[j].point[kp], &RoadMapList[i].greenLine[j].point[k]);

                    if (IntersectionOf(green_line, frontAxle) == GM_Intersection ||
                        IntersectionOf(green_line, rearAxle) == GM_Intersection) {

                        p1 = RoadMapList[i].greenLine[j].point[kp];
                        p2 = RoadMapList[i].greenLine[j].point[k];

                        return true;
                    }
                    kp = k;
                }
            }
            break;
        }
    }
    return false;
}

/************************************************************
 * 检测车辆是否触发子考项地图
 * @param RoadMapList
 * @param car
 * @param CarModelList
 * @return
 */
static int CrashTriggerLine(LIST_ROAD_MAP &RoadMapList, const car_model *car, LIST_CAR_MODEL &CarModelList)
{
    int map_idx = -1;

    if (CarModelList.size() < 5)
        return map_idx;

    Polygon trace;

    trace.num = 5;
    trace.point = (PointF *) malloc(sizeof(PointF) * trace.num);

    list<car_model *>::iterator iter = CarModelList.begin();

    int pn = 0;
    while (iter != CarModelList.end() && pn < trace.num) {
        trace.point[pn++] = ((car_model *)(*iter))->carXY[((car_model *)(*iter))->left_front_tire[TIRE_OUTSIDE]];
        ++iter;
    }

    for (int i = 0; i < RoadMapList.size(); ++i) {
        if (RoadMapList[i].type == GENERAL_MAP) {

            // 每条线都检测
            for (int j = 0; j < RoadMapList[i].triggerLineNum; ++j) {
                Line trigger_line;

                int kp = 0;

                // 触发线一般应该只有首尾2点（id, p1, p2）
                for (int k = 1; k < RoadMapList[i].triggerLine[j].line.num; ++k) {
                    MakeLine(&trigger_line, &RoadMapList[i].triggerLine[j].line.point[kp], &RoadMapList[i].triggerLine[j].line.point[k]);

                    int pp = 0;
                    for (int p = 1; p < pn; ++p) {
                        Line trace_line;
                        MakeLine(&trace_line, &trace.point[pp], &trace.point[p]);

                        if (IntersectionOf(trace_line, trigger_line) == GM_Intersection &&
                            IntersectionOfLine(RoadMapList[i].triggerLine[j].line.point[kp],
                                    RoadMapList[i].triggerLine[j].line.point[k],
                                    car->carXY[car->left_front_tire[TIRE_OUTSIDE]]) == -1 &&
                            DistanceOf(car->carXY[car->left_front_tire[TIRE_OUTSIDE]], trigger_line) > 0.1) {
                            // 碰到触发线
                            DEBUG("碰撞触发线 引发地图 id = %d", RoadMapList[i].triggerLine[j].triggerMapId);
                            map_idx =  FindMapIndexById(RoadMapList[i].triggerLine[j].triggerMapId, RoadMapList);
                            goto SEARCH_TRIGGER_LINE_END;
                        }

                        pp = p;
                    }

                    kp = k;
                }
            }
            break;
        }
    }

SEARCH_TRIGGER_LINE_END:
    free(trace.point);

    return map_idx;
}

static int FindMapIndexById(int id, LIST_ROAD_MAP &RoadMapList)
{
    for (int i = 0; i < RoadMapList.size(); ++i) {
        if (RoadMapList[i].id == id) {
            return i;
        }
    }
    return -1;
}