2025-03-26 16:56:51 +08:00
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#include "Sub3Judge06Rxhd.h"
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#include "HFactory.h"
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Sub3Judge06Rxhd::Sub3Judge06Rxhd()
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{
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m_exam = __NEW__(TKM3Item);
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}
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Sub3Judge06Rxhd::~Sub3Judge06Rxhd()
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{
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__DELETE__(m_exam);
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}
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bool Sub3Judge06Rxhd::dealJudgeEnter()
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{
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if(m_exam->TestPro != ItemProFlagInit) return false;
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// if(!m_car->rtkEnabled() || !m_car->rtkEnabled(1)) return false;
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const TChuanGan* cg = m_car->historyChuanGan();
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const std::string& ksdd = TableSysSet->get211();
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setSeed(cg->real.gps.sj);
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int TempJL = m_itemv.last_jl; //注意：这里要备份出来
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m_itemv = TSub3Item06Rxhd();
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m_itemv.Status = 1;
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m_itemv.last_jl = TempJL;
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//进入项目时刻的累计距离
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m_itemv.tmpljjl = cg->ai_ljjl;
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//SysSet[512]-->3 学校、公交、人行横道模拟项目是否语音，0：不需要 1：需要
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const std::vector<std::string>& s512 = TableSysSet->asArray512();
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m_itemv.WavKind = s512.size() > 2 && s512[2] != "" ? std::atoi(s512[2].c_str()) : 0;
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//SysSet[509]:7
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//连续的人行横道间隔不超过30米，不需判断减速
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const std::vector<std::string>& s509 = TableSysSet->asArray509();
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m_itemv.tmp_jskf = s509.size() > 6 && s509[6] != "" ? std::atoi(s509[6].c_str()) : 0;
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m_itemv.tmp_xmjl = 500; //厘米
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if(ksdd == siteof::dehongkm3) //特殊地点版本
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{
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m_itemv.tmp_xmjl = 3000;
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}
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if(ksdd == siteof::nj || ksdd == siteof::njdckm3)
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{
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//ToDo:语音提示:通过人行横道
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m_itemv.tmp_xmjl = 8000; //厘米
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}
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else
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{
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if(m_itemv.WavKind == 1)
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{
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//ToDo:语音提示:通过人行横道
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}
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}
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m_itemv.tmp_xrtg = true; //行人通过标志
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if(m_exam->Gps_Itemno1 == 1)
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{
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//进项目，评判车速
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m_itemv.Status = 2;
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m_itemv.tmp_ljjlcm = cg->ai_ljjl_cm; //20140730
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}
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//SysSet[334]:1 人行横道随机提示有行人通过(随机提示比例0~10)
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const std::vector<std::string>& s334 = TableSysSet->asArray334();
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if(s334.size() > 0 && s334[0] != "")
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{
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//Randomize;
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//a = Random(10) + 1; //1-10
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int a = random2(1, 10);
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if(a <= std::atoi(s334[0].c_str())) //20180823
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{
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m_itemv.tmp_xrtg = false;
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//Todo:语音提示：有行人通过
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m_car->createEventSound({itemNo(), sound::sub3_410002});
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}
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else
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{
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m_itemv.tmp_xrtg = true;
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}
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}
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//得到减速类型
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//SysSet[522]:
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//(*
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//522：路口和人行横道项目减速设置，第一个分号前是路口设置，第二个分号是人行横道设置。
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//每个项目里的第一个逗号表示减速类型，第二逗号表示速度要求阀值（减速类型2和3时有效）；
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//减速类型：
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//*)
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const std::vector<std::vector<std::string>>& s522 = TableSysSet->asArray2_522();
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if(s522.size() > 1)
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{
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const std::vector<std::string>& s = s522[1];
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//减速类型
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m_itemv.jiansu_leixing = s.size() > 0 && s[0] != "" ? std::atoi(s[0].c_str()) : 0;
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//速度阈值
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m_itemv.jiansu_sudu = s.size() > 1 && s[1] != "" ? std::atoi(s[1].c_str()) : 30;
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}
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if(m_itemv.jiansu_leixing > 4)
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m_itemv.jiansu_leixing = 0;
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m_exam->TestPro = ItemProFlagJudge;
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//ToDo2:生成进项目事件
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return true;
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}
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void Sub3Judge06Rxhd::dealJudgeItem()
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{
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HELP_COST_TIME("");
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if(m_exam->TestPro != ItemProFlagJudge) return;
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2025-05-09 12:01:14 +08:00
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if(!judgeAllowable()) return;
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2025-03-26 16:56:51 +08:00
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const TChuanGan* cg = m_car->historyChuanGan();
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const TSensorInfo& sor = cg->real.sensor;
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const std::string& ksdd = TableSysSet->get211();
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//南京地区需要有脚刹车动作
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if(!m_itemv.b_Jsc)
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{
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if(sor.jsc == SYES)
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m_itemv.b_Jsc = true;
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}
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//20170415
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if(ksdd == siteof::dehongkm3)
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{
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if((cg->ai_ljjl_cm - m_itemv.tmp_ljjlcm) >= m_itemv.tmp_xmjl)
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{
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if(CheckJL_ShaChe(40) == false)
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{
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//不按规定减速慢行
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JUDGE_MARK_SUB3(6, "02", false); //20160928
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}
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m_exam->TestPro = ItemProFlagEnd;
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return;
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}
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return;
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}
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if(m_itemv.Status == 1)
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{
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if(ksdd == siteof::guizhou || ksdd == siteof::guizhouas)
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{
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if(!m_itemv.tmp_xrtg)
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{
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if(m_itemv.tcsj == 0)
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{
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if(cg->move == moveStop)
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m_itemv.tcsj = cg->tkCnt;
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}
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else
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{
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if(cg->tkCnt - m_itemv.tcsj > 5*SECOND)
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{
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//ToDo:语音播报：行人已通过
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m_itemv.tmp_xrtg = true;
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m_car->createEventSound({itemNo(), sound::sub3_410003});
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}
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else
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{
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if(cg->move != moveStop)
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m_itemv.tcsj = 0;
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}
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}
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}
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}
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else
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{
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if(m_itemv.tmp_xrtg == false && cg->move == moveStop)
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{
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m_itemv.tmp_xrtg = true;
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if(m_car->historyMoveState(1) != moveStop)
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{
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//ToDo:语音播报：行人已通过
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m_car->createEventSound({itemNo(), sound::sub3_410003});
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}
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}
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}
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//GPS进入下一阶段
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if(m_exam->Gps_Itemno1 == 1)
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{
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m_itemv.Status = 2;
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m_itemv.tmp_ljjlcm = cg->ai_ljjl_cm; //20140730
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return;
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}
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}
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else if(m_itemv.Status == 2)
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{
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m_itemv.Status = 3;
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//行人正在通过人行横道线
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if(!m_itemv.tmp_xrtg)
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{
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JUDGE_MARK_SUB3(6, "03", true);
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}
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//20181016 20190219 20190305
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bool b_jsfk = true;
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if(m_itemv.tmp_jskf == 1)
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{
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if(cg->ai_ljjl - m_itemv.last_jl < 50)
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b_jsfk = false;
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}
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if(ksdd == siteof::GXWZKM3 || ksdd == siteof::NMGTLKM3 || ksdd == siteof::guizhou || ksdd == siteof::guizhouas)
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{
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if(ksdd == siteof::guizhouas)
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{
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if(CheckJL_ShaChe(40) == false)
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JUDGE_MARK_SUB3(6, "02", false);
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if(CheckJL_CS(30) == false)
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JUDGE_MARK_SUB3(20, "38", false);
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}
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else
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{
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if(CheckJL_ShaChe(40) == false || CheckJL_CS(30) == false)
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JUDGE_MARK_SUB3(6, "02", false);
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}
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}
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else if(ksdd == siteof::njdckm3)
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{
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if(CheckJL_ShaChe(100) == false)
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JUDGE_MARK_SUB3(6, "02", false);
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}
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else if(b_jsfk)
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{
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//不按规定减速慢行
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if(ksdd != siteof::nj)
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{
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if(m_itemv.jiansu_leixing > 0)
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{
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if(m_itemv.jiansu_leixing == 1)
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{
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if(CheckJL_ShaChe(30) == false)
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{
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JUDGE_MARK_SUB3(6, "02", false);
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}
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}
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else if(m_itemv.jiansu_leixing == 2)
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{
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if(CheckJL_CS(30, m_itemv.jiansu_sudu) == false)
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JUDGE_MARK_SUB3(6, "02", false);
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}
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else if(m_itemv.jiansu_leixing == 3)
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{
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if(CheckJL_ShaChe(30) == false)
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{
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JUDGE_MARK_SUB3(6, "02", false);
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}
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else
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{
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if(CheckJL_CS(30, m_itemv.jiansu_sudu) == false)
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JUDGE_MARK_SUB3(6, "02", false);
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}
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}
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else if(m_itemv.jiansu_leixing == 4)
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{
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if(CheckJL_CS(30, 2) == false)
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JUDGE_MARK_SUB3(6, "02", false);
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}
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}
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else
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{
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TTestCtl* ctl = m_car->getTTestCtl();
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if(ctl->JianSuLeiXing == 2) //20190411
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{
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if(CheckJL_CheShu_New(30) == false)
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JUDGE_MARK_SUB3(6, "02", false);
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}
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else
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{
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if(CheckJL_ShaChe(30) == false)
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{
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//判断车速
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if(ctl->JianSuLeiXing == 1) //if(m_itemv.jiansu_leixing == 1)
|
|
|
|
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|
{
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if(CheckJL_CS(30) == false)
|
|
|
|
|
|
{
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JUDGE_MARK_SUB3(6, "02", false);
|
|
|
|
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}
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|
|
|
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}
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else
|
|
|
|
|
|
{
|
|
|
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|
//20180412 30米是否有停车状态，如有停车，则不扣
|
|
|
|
|
|
JUDGE_MARK_SUB3(6, "02", false); //20160928
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|
|
|
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|
}
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|
|
|
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}
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|
|
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|
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}
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|
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|
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}
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|
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}
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|
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}
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//夜间不切换远近光灯 20171006
|
|
|
|
|
|
TKM3Item* item13 = m_car->findExamItem(Sub3ItemType13Yjxs);
|
|
|
|
|
|
bool FindFlag = item13 && item13->Item_Color == itemStateZk;
|
|
|
|
|
|
TCar* tcar = m_car->getTCar();
|
|
|
|
|
|
if((FindFlag == true) || (tcar->Night_ID && TableSysSet->get323() == "3") || (ksdd == siteof::sz111)) //20150130
|
|
|
|
|
|
{
|
|
|
|
|
|
const std::string& TempTXT2 = m_exam->Txt2;
|
2025-04-01 17:53:30 +08:00
|
|
|
|
//TKM3Item* item05 = m_car->findExamItem(Sub3ItemType05Lkzx);
|
|
|
|
|
|
//FindFlag = item05 && item05->TestPro == ItemProFlagIdle; //20140902
|
|
|
|
|
|
FindFlag = true;
|
|
|
|
|
|
if(m_car->itemsSomeExaming2(Sub3ItemType05Lkzx) ||
|
|
|
|
|
|
m_car->itemsSomeExaming2(Sub3ItemType15Lkzz) ||
|
|
|
|
|
|
m_car->itemsSomeExaming2(Sub3ItemType16Lkyz) ||
|
|
|
|
|
|
(m_car->itemsSomeExaming2(Sub3ItemType12Dtxx) &&
|
|
|
|
|
|
m_car->findExamItem(Sub3ItemType12Dtxx)->EnterItemFromLuKou5))
|
2025-03-26 16:56:51 +08:00
|
|
|
|
{
|
2025-04-01 17:53:30 +08:00
|
|
|
|
FindFlag = false;
|
2025-03-26 16:56:51 +08:00
|
|
|
|
}
|
2025-04-01 17:53:30 +08:00
|
|
|
|
int jl = TempTXT2 != "" ? std::atoi(TempTXT2.c_str()) : 80; //20140902
|
|
|
|
|
|
if(FindFlag == true && !CheckJL_YJG(jl)) //不在路口内的人行横道
|
2025-03-26 16:56:51 +08:00
|
|
|
|
{
|
2025-04-01 17:53:30 +08:00
|
|
|
|
//20171006
|
|
|
|
|
|
if(ksdd == siteof::sz111)
|
2025-03-26 16:56:51 +08:00
|
|
|
|
{
|
2025-04-01 17:53:30 +08:00
|
|
|
|
JUDGE_MARK_SUB3(41, "03", false);
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
JUDGE_MARK_SUB3(13, "03", false);
|
2025-03-26 16:56:51 +08:00
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if(m_itemv.Status == 3)
|
|
|
|
|
|
{
|
|
|
|
|
|
//结束项目
|
|
|
|
|
|
if(cg->ai_ljjl_cm - m_itemv.tmp_ljjlcm >= m_itemv.tmp_xmjl)
|
|
|
|
|
|
{
|
|
|
|
|
|
if(ksdd == siteof::nj)
|
|
|
|
|
|
{
|
|
|
|
|
|
if(!m_itemv.b_Jsc)
|
|
|
|
|
|
{
|
|
|
|
|
|
JUDGE_MARK_SUB3(6, "02", false);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
m_itemv.last_jl = cg->ai_ljjl;
|
|
|
|
|
|
m_exam->TestPro = ItemProFlagEnd;
|
|
|
|
|
|
return;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
std::string str1, str2;
|
|
|
|
|
|
switch(m_itemv.Status)
|
|
|
|
|
|
{
|
|
|
|
|
|
case 1 : str1 = JUDGE_UTF8S("1-进项目到人行横道之前"); break;
|
|
|
|
|
|
case 2 : str1 = JUDGE_UTF8S("2-经过人行横道线"); break;
|
|
|
|
|
|
case 3 : str1 = JUDGE_UTF8S("3-等待项目结束"); break;
|
|
|
|
|
|
default: break;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
//得到减速类型
|
|
|
|
|
|
switch(m_itemv.jiansu_leixing)
|
|
|
|
|
|
{
|
|
|
|
|
|
case 1 : str2 = JUDGE_UTF8S("刹车"); break;
|
|
|
|
|
|
case 2 : str2 = JUDGE_UTF8S("小于规定车速"); break;
|
|
|
|
|
|
case 3 : str2 = JUDGE_UTF8S("刹车+小于规定车速"); break;
|
|
|
|
|
|
case 4 : str2 = JUDGE_UTF8S("降过速"); break;
|
|
|
|
|
|
default: break;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
char buf[256] = {0};
|
|
|
|
|
|
SafeSprintf(buf, sizeof(buf), JUDGE_UTF8S("St:%d-->%s-->减速类型=%s"),
|
|
|
|
|
|
m_itemv.Status, str1.c_str(), str2.c_str() );
|
|
|
|
|
|
showStatus(std::string(buf));
|
|
|
|
|
|
|
|
|
|
|
|
NS3JudgeVision_41002();
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void Sub3Judge06Rxhd::NS3JudgeVision_41002()
|
|
|
|
|
|
{
|
|
|
|
|
|
//不观察左、右方交通情况
|
|
|
|
|
|
//通过人行横道线前10s内，头部姿态没有大于左侧角度【18度】或大于右侧角度【20度】
|
|
|
|
|
|
if(!NS3UsingAndData(NS3UsingPose)) return;
|
|
|
|
|
|
|
|
|
|
|
|
int64 nowTime = m_car->GetCurrentTime2();
|
|
|
|
|
|
const TNS3PoseSysset& poseSys = m_nsub3->getPoseSysset();
|
|
|
|
|
|
const TVisionPose* pose0 = m_nsub3->hisPose(0);
|
|
|
|
|
|
if(pose0->zy < -poseSys.left || pose0->zy > poseSys.right)
|
|
|
|
|
|
{
|
|
|
|
|
|
m_itemv.observe.obsTime = nowTime;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
const TRTKResult& RTKKM3_0 = m_car->historyRtkKM3(0);
|
|
|
|
|
|
const TRTKResult& RTKKM3_1 = m_car->historyRtkKM3(1);
|
|
|
|
|
|
bool opportunity = RTKKM3_0.InShapeAttr == InShapeAttr_1 &&
|
|
|
|
|
|
RTKKM3_1.InShapeAttr != InShapeAttr_1;
|
|
|
|
|
|
|
|
|
|
|
|
if(opportunity && !m_itemv.observe.isJudge)
|
|
|
|
|
|
{
|
|
|
|
|
|
m_itemv.observe.isJudge = true;
|
|
|
|
|
|
if(nowTime - m_itemv.observe.obsTime > 10*SECOND)
|
|
|
|
|
|
{
|
|
|
|
|
|
JUDGE_MARK_NSUB3(6, "01", false);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
