500 lines
16 KiB
C++
500 lines
16 KiB
C++
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#include "Sub3Judge05Lkzx.h"
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#include "HFactory.h"
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Sub3Judge05Lkzx::Sub3Judge05Lkzx()
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{
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m_exam = __NEW__(TKM3Item);
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}
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Sub3Judge05Lkzx::~Sub3Judge05Lkzx()
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{
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__DELETE__(m_exam);
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}
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bool Sub3Judge05Lkzx::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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m_itemv = ISub3Item05Lkzx();
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#ifdef JUDGE_USE_INSPECT
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//是否是停车让行项目
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const std::string& ksdd = TableSysSet->get211();
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if (ksdd == siteof::tcrx)
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{
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m_itemv.Is_TCRX_Item = true;
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}
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#endif
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//m_itemv.ItemPosI = xi;
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m_itemv.Start_JL_CM = cg->ai_ljjl_cm;
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const std::vector<std::string>& s508 = TableSysSet->asArray508();
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//得到项目距离(如果没有读到停止线或者没有感应到出路口，行驶指定距离后，自动结束项目 )
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m_itemv.XMJL_Mi = s508.size() > 0 && s508[0] != "" ? std::atoi(s508[0].c_str()) : 250; //StrToIntDef(getdotstr(1, sysset[508] + ',', ','), 250); // strtointdef(readiniparam('通过路口', 'lkxmjl', '250'), 0); //20151214
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//1、得到路口类型
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m_itemv.LuK_Type = m_exam->SetUp1.length() > 0 ? std::atoi(m_exam->SetUp1.c_str()) : 1;
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//2、得到减速类型和速度阈值
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const std::vector<std::vector<std::string>>& s522 = TableSysSet->asArray2_522();
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if(s522.size() > 0)
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{
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const std::vector<std::string>& ss522 = s522[0];
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m_itemv.JianSu_LeiXing = ss522.size() > 0 && ss522[0] != "" ? std::atoi(ss522[0].c_str()) : 0;
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m_itemv.JianSu_SuDu = ss522.size() > 1 && ss522[1] != "" ? std::atoi(ss522[1].c_str()) : 30;
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}
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if(m_itemv.JianSu_LeiXing > 4)
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{
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m_itemv.JianSu_LeiXing = 0;
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}
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//3、得到行驶方向点和停车让行标志
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if(m_exam->SetUp3 != "")
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{
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std::vector<std::string> setup3 = Tools::split(m_exam->SetUp3, "-");
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m_itemv.LuK_Fx_PointNo = setup3.size() > 0 && setup3[0] != "" ? std::atoi(setup3[0].c_str()) : 0;
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//停车让行
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m_itemv.LuK_TcRx = (setup3.size() > 2 && setup3[2] == "1");
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}
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else
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{
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m_itemv.LuK_Fx_PointNo = 0;
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}
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//4、路口内禁止停车时间
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m_itemv.LuK_TCSJ = (m_exam->SetUp5 != "" ? std::atoi(m_exam->SetUp5.c_str()) : 10000);
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//5、越过停车线后X米后，不允许停车
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m_itemv.LuK_TCJL = (m_exam->SetUp6 != "" ? std::atof(m_exam->SetUp6.c_str()) : 10);
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m_exam->TestPro = ItemProFlagJudge;
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//ToDo1:播报项目语音
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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 Sub3Judge05Lkzx::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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if(!m_car->rtkEnabled() || !m_car->rtkEnabled(1)) return;
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//setup1: 路口类型 1-平交 2-环道 3-三叉 缺省 1－平交
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//setup2: 限速值，通过路口停车线时的车速 缺省 35
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//setup3: 正确行驶方向点-方向-停车让行
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//setup4: *语音提示方向，保存语音文件名 缺省 空
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//setup5: 路口内禁止停车时间 缺省 10000秒 标识不限制
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//setup6: 越过停车线后X米后，不允许停车超过setup5秒 缺省 10米
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const TChuanGan* cg = m_car->historyChuanGan();
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const TRTKResult& RTKKM3 = cg->RTKKM3;
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const TGpsInfo& gps = cg->real.gps;
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const TSensorInfo& sor = cg->real.sensor;
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const TChuanGan* his1 = m_car->historyChuanGan(1);
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const std::string& ksdd = TableSysSet->get211();
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if(m_car->isExamMode()) //正式考试
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{
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if(!m_car->isQualified())
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{
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m_exam->TestPro = ItemProFlagEnd;
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flagEndJudge();
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return;
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}
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}
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#ifdef JUDGE_USE_INSPECT
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//(*XLG_Modify 2024-06-06*)
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const TChuanGan* his2 = m_car->historyChuanGan(1);
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if(m_itemv.Is_TCRX_Item == true)
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{
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if (cg->ai_ljjl_cm - m_itemv.Start_JL_CM > 1480)
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{
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if(m_itemv.Cross_TZX_Flag == false)
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{
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if(cg->move == moveStop && his1->move == moveStop && his2->move == moveStop)
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{
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m_itemv.TCRX_FinishFlag = true;
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}
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}
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}
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if(m_itemv.Cross_TZX_Flag == true)
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{
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if(m_itemv.Is_TCRX_Item == true && m_itemv.TCRX_FinishFlag == false)
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{
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JUDGE_MARK_SUB3(5, "03", true);
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}
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}
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}
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#endif
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//(*2024-03-08*)
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if (Tools::pos("+", cg->MapPoint_Road_Code) == true && Tools::pos("+", his1->MapPoint_Road_Code) == false) //包含路口端点的路口项目
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{
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if(m_exam->Gps_Itemno1 < 3)
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{
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m_exam->Gps_Itemno1 = 3;
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}
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}
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if(m_exam->Gps_Itemno1 == 3 || m_itemv.Cross_TZX_Flag == true)
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{
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if(m_itemv.Step3Flag == false)
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{
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m_itemv.Step3Flag = true;
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std::string roadData = cg->MapPoint_Road_Code;
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if(roadData == "")
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{
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//这里要稍微讲解一下(有些地方，可能驾校在路段中间，这种情况下，初始读不到路段，这种情况比较少)
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roadData = RTKKM3.MapRoad_Name;
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}
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roadData = Tools::replace(roadData, "+", ""); //, [rfReplaceAll]
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m_itemv.Step3RoadData = roadData;
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}
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}
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//读到下一个路段标志
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if(m_itemv.Step3Flag == true)
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{
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std::string roadData = cg->MapPoint_Road_Code;
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if(roadData == "")
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{
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roadData = RTKKM3.MapRoad_Name;
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}
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roadData = Tools::replace(roadData, "+", ""); //, [rfReplaceAll]
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if(m_itemv.Step3RoadData != roadData)
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{
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m_itemv.ReadNextLuDuanFlag = true;
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}
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//做完项目后，有没有关闭灯光(综合评判会用到，这里先赋值)
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if(sor.zfxd == SNOT && sor.yfxd == SNOT)
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{
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TTestCtl* ctl = m_car->getTTestCtl();
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ctl->ZXD_GuanBi = true;
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}
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}
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//直行不可以打灯
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if(RTKKM3.CrossLineAttr == TRTKResult::CrossLineAttr1) //停止线处，直行不可以打灯
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{
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//方向灯错误评判
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//508:路口项目参数:xmjl,Fxdpp,
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// Xmjl:a项目距离
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//Fxdpp:方向灯评判时机（0：打方向角度，1：停止线（默认））
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//fxdcc：方向灯错误评判，如左转开右方向灯立即扣分
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//大车右转必停时长（毫秒，默认为0不用停车）
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//方向灯必须持续到路口停止线
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const std::vector<std::string>& s508 = TableSysSet->asArray508();
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if(s508.size() > 2 && std::atoi(s508[2].c_str()) == 1)
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{
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const TSensorInfo& sor1 = m_car->historySensor(1);
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const TSensorInfo& sor2 = m_car->historySensor(2);
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if(sor.zfxd == SYES && sor1.zfxd == SYES && sor2.zfxd == SYES)
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{
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if(!m_itemv.Mark_20_73_Flag)
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{
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JUDGE_MARK_SUB3(20, "73", false);
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}
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}
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if(sor.yfxd == SYES && sor1.yfxd == SYES && sor2.yfxd == SYES)
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{
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if(!m_itemv.Mark_20_73_Flag)
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{
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JUDGE_MARK_SUB3(20, "73", false);
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}
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}
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}
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}
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std::string msg = "";
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if(m_itemv.Cross_TZX_Flag == true)
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{
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if(m_itemv.StopLine_JLCM != 0)
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{
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//环岛业务逻辑翻译（一般很少有地方是环岛） //路口类型 1-平交 2-环岛
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int disMI = m_itemv.LuK_Type == 2 ? 190 : 100;
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int dis1 = cg->ai_ljjl_cm - m_itemv.StopLine_JLCM;
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int dis2 = disMI * 100;
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msg = XCharacter(",过停止线距离cm=") + std::to_string(dis1) + XCharacter(",结束=") + std::to_string(dis2);
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if(cg->ai_ljjl_cm - m_itemv.StopLine_JLCM >= dis2)
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{
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m_exam->TestPro = ItemProFlagEnd;
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flagEndJudge();
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return;
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}
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}
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}
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// (*2024-03-07*)
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//增加南京地区特殊判断
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if(ksdd == siteof::nj && m_exam->Gps_Itemno1 == 3 && TableSysSet->get346() == "-1")
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{
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if(!m_itemv.Cross_TZX_Flag)
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{
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m_itemv.Cross_TZX_Flag = true;
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//0-未越线 1-停车线 2-中心点右侧线 3-等待控制线 20150119
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m_itemv.StopLine_JLCM = cg->ai_ljjl_cm; //停止线时刻的距离
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}
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}
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//判断是否到达停止线
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//0-未越线 1-停车线 2-中心点右侧线 3-等待控制线 20150119
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if(m_itemv.Cross_TZX_Flag == false)
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{
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if(RTKKM3.CrossLineAttr == TRTKResult::CrossLineAttr1)
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{
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m_itemv.Cross_TZX_Flag = true;
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if(m_exam->Gps_Itemno1 < 3)
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{
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m_exam->Gps_Itemno1 = 3;
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}
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//0-未越线 1-停车线 2-中心点右侧线 3-等待控制线 20150119
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m_itemv.StopLine_JLCM = cg->ai_ljjl_cm; //停止线时刻的距离
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//路段状况:基准天线所在车道方向: 1-右转 2-直行 3-左转 4-掉头
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//1000 0100 0010 0001
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//评判方向灯
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}
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}
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if(m_itemv.Cross_TZX_Flag == true) // || m_exam->Gps_Itemno1 == 3
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{
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if(m_itemv.Judge_TCX == false)
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{
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m_itemv.Judge_TCX = true;
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//方向灯评判
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JudgeFXD();
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//停车让行评判（掉头不存在停车让行)
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if(m_itemv.LuK_TcRx == true)
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{
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if(CheckJL_TingChe(30) == false) //20170924
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{
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JUDGE_MARK_SUB3(5, "03", true);
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}
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}
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//(*XLG_Modify 2024-03-15*)
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Judge_LuKou_TZX_JianSu(itemNo(), m_itemv.JianSu_LeiXing, m_itemv.JianSu_SuDu);
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}
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}
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//检查车道是否正确
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if(RTKKM3.CrossLineAttr == TRTKResult::CrossLineAttr1 || m_exam->Gps_Itemno1 == 2 || m_exam->Gps_Itemno1 == 3)
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{
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#ifdef JUDGE_USE_INSPECT
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if(1)
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{
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//路段状况:基准天线所在车道方向: 1-右转 2-直行 3-左转 4-掉头
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//1000 0100 0010 0001
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if(RTKKM3.BasePointInLaneDir != "" && RTKKM3.BasePointInLaneDir != "0000")
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{
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if(RTKKM3.BasePointInLaneDir.substr(1, 1) != "1")
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{
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JUDGE_MARK_SUB3(5, "45", true);
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}
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}
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|
|
}
|
|||
|
|
#else
|
|||
|
|
if(m_itemv.Check_CheDao == false)
|
|||
|
|
{
|
|||
|
|
m_itemv.Check_CheDao = true;
|
|||
|
|
//路段状况:基准天线所在车道方向: 1-右转 2-直行 3-左转 4-掉头
|
|||
|
|
//1000 0100 0010 0001
|
|||
|
|
if(RTKKM3.BasePointInLaneDir != "")
|
|||
|
|
{
|
|||
|
|
if(RTKKM3.BasePointInLaneDir.substr(1, 1) != "1")
|
|||
|
|
{
|
|||
|
|
JUDGE_MARK_SUB3(5, "45", true);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
#endif
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//(5,04):遇有路口交通阻塞时进入路口，将车辆停在路口内等候
|
|||
|
|
//路口内停车判断
|
|||
|
|
//RTK_PP穿越停车线赋值
|
|||
|
|
if(cg->move != moveStop)
|
|||
|
|
{
|
|||
|
|
m_itemv.StopLine_TCTM = 0;
|
|||
|
|
}
|
|||
|
|
if(cg->move == moveStop && m_itemv.Cross_TZX_Flag == true)
|
|||
|
|
{
|
|||
|
|
int dis = cg->ai_ljjl_cm - m_itemv.StopLine_JLCM;
|
|||
|
|
if(dis > m_itemv.LuK_TCJL * 100)
|
|||
|
|
{
|
|||
|
|
if(m_itemv.StopLine_TCTM == 0)
|
|||
|
|
{
|
|||
|
|
m_itemv.StopLine_TCTM = gps.sj;
|
|||
|
|
}
|
|||
|
|
if(std::abs(gps.sj - m_itemv.StopLine_TCTM) > m_itemv.LuK_TCSJ * SECOND)
|
|||
|
|
{
|
|||
|
|
if(ksdd == siteof::hnpy)
|
|||
|
|
{
|
|||
|
|
if(!m_itemv.LKTCKF)
|
|||
|
|
{
|
|||
|
|
JUDGE_MARK_SUB3(5, "04", false);
|
|||
|
|
m_itemv.LKTCKF = true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
JUDGE_MARK_SUB3(5, "04", true);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
//停车让行评判
|
|||
|
|
|
|||
|
|
//////////////////////////////////////////////////////////////////////////
|
|||
|
|
//不按规定考试（比如：走错车道了
|
|||
|
|
//////////////////////////////////////////////////////////////////////////////
|
|||
|
|
//方向灯标志
|
|||
|
|
///////////////////////////////////////////////////////////////////////////
|
|||
|
|
if(m_itemv.Cross_TZX_Flag == false)
|
|||
|
|
{
|
|||
|
|
if(cg->ai_ljjl_cm - m_itemv.Start_JL_CM > m_itemv.XMJL_Mi * 100)
|
|||
|
|
{
|
|||
|
|
m_exam->TestPro = ItemProFlagEnd;
|
|||
|
|
flagEndJudge();
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(m_itemv.Step3Flag == true)
|
|||
|
|
{
|
|||
|
|
//1、左转方向评判2（标配）
|
|||
|
|
//{
|
|||
|
|
// if not m_itemv.ZhongXinDian3MarkFlag then
|
|||
|
|
// {
|
|||
|
|
// if(RTKKM3.CrossLineAttr = 2) or (RTKKM3.CrossLineAttr = 4) then
|
|||
|
|
// {
|
|||
|
|
// JUDGE_MARK_SUB3(15, '05', False);
|
|||
|
|
// m_itemv.ZhongXinDian3MarkFlag := True;
|
|||
|
|
// }
|
|||
|
|
// }
|
|||
|
|
//}
|
|||
|
|
|
|||
|
|
//插入穿越点
|
|||
|
|
int ptNo = m_car->lastCrossPtNo();
|
|||
|
|
if(ptNo != 0)
|
|||
|
|
{
|
|||
|
|
bool findFlag = false;
|
|||
|
|
int len = m_itemv.Step3PtArr.size();
|
|||
|
|
for(int i = 0; i < len; i++)
|
|||
|
|
{
|
|||
|
|
if(m_itemv.Step3PtArr[i] == ptNo)
|
|||
|
|
{
|
|||
|
|
findFlag = true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
if(!findFlag)
|
|||
|
|
{
|
|||
|
|
m_itemv.Step3PtArr.push_back(ptNo);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
findFlag = false;
|
|||
|
|
len = m_itemv.Step3PtArr.size();
|
|||
|
|
for(int i = 0; i < len; i++)
|
|||
|
|
{
|
|||
|
|
if(m_itemv.Step3PtArr[i] == m_itemv.LuK_Fx_PointNo)
|
|||
|
|
{
|
|||
|
|
findFlag = true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
m_itemv.OKFangXiangPt_SuccessFlag = findFlag;
|
|||
|
|
}
|
|||
|
|
std::string roadData = cg->MapPoint_Road_Code;
|
|||
|
|
if(roadData == "")
|
|||
|
|
{
|
|||
|
|
roadData = RTKKM3.MapRoad_Name;
|
|||
|
|
}
|
|||
|
|
roadData = Tools::replace(roadData, "+", ""); // [rfReplaceAll]
|
|||
|
|
if(roadData != "")
|
|||
|
|
{
|
|||
|
|
//如果路段发生变化了(如果持续3帧不同，可以认为路口项目结束了
|
|||
|
|
if(roadData != m_itemv.Step3RoadData)
|
|||
|
|
{
|
|||
|
|
bool OKFlag = true;
|
|||
|
|
for(int i = 1; i <= 2; i++)
|
|||
|
|
{
|
|||
|
|
TChuanGan* cgi = m_car->historyChuanGan(i);
|
|||
|
|
roadData = cgi->MapPoint_Road_Code;
|
|||
|
|
if(roadData == "")
|
|||
|
|
{
|
|||
|
|
roadData = cgi->RTKKM3.MapRoad_Name;
|
|||
|
|
}
|
|||
|
|
roadData = Tools::replace(roadData, "+", ""); //, [rfReplaceAll]
|
|||
|
|
if(roadData == m_itemv.Step3RoadData)
|
|||
|
|
{
|
|||
|
|
OKFlag = false;
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
if(OKFlag == true)
|
|||
|
|
{
|
|||
|
|
m_exam->TestPro = ItemProFlagEnd;
|
|||
|
|
flagEndJudge();
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//ToDo:贵州地区的信号灯评判
|
|||
|
|
if(ksdd == siteof::guizhoubj)
|
|||
|
|
{
|
|||
|
|
//ToDo:贵州地区的红绿灯通信数据
|
|||
|
|
}
|
|||
|
|
//ToDo: 等待控制线，需要结合红绿灯信号 （暂时不实现)
|
|||
|
|
//0-未越线 1-停车线 2-中心点右侧线 3-等待控制线 20150119
|
|||
|
|
//RTKKM3.CrossLineAttr = 3 。
|
|||
|
|
|
|||
|
|
//ToDo:暂时屏蔽观察类算法，后期实现
|
|||
|
|
|
|||
|
|
//状态提示
|
|||
|
|
std::string str = "";
|
|||
|
|
std::vector<std::string> xhd = Tools::split(sor.xhd, ",");
|
|||
|
|
if(ksdd == siteof::nmgcfkm3 && xhd.size() > 0 && xhd[0] == m_exam->ItemSNO)
|
|||
|
|
{
|
|||
|
|
char buf[128] = {0};
|
|||
|
|
SafeSprintf(buf, sizeof(buf), "%s;St=%d;Cs=%0.2f,xhd=%s",
|
|||
|
|
m_exam->ItemSNO.c_str(), m_exam->Gps_Itemno1, gps.sd, sor.xhd.c_str());
|
|||
|
|
str += buf;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
char buf[128] = {0};
|
|||
|
|
SafeSprintf(buf, sizeof(buf), "%s;St=%d;Cs=%0.2f",
|
|||
|
|
m_exam->ItemSNO.c_str(), m_exam->Gps_Itemno1, gps.sd);
|
|||
|
|
str += buf;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//替换为 flagEndJudge();
|
|||
|
|
|
|||
|
|
str += msg;
|
|||
|
|
showStatus(str);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void Sub3Judge05Lkzx::flagEndJudge()
|
|||
|
|
{
|
|||
|
|
if(m_exam->TestPro == ItemProFlagEnd)
|
|||
|
|
{
|
|||
|
|
if(m_itemv.LuK_Fx_PointNo > 0)
|
|||
|
|
{
|
|||
|
|
if(m_itemv.OKFangXiangPt_SuccessFlag == false && m_itemv.ReadNextLuDuanFlag == true)
|
|||
|
|
{
|
|||
|
|
JUDGE_MARK_SUB3(5, "41", true);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void Sub3Judge05Lkzx::JudgeFXD()
|
|||
|
|
{
|
|||
|
|
return;
|
|||
|
|
}
|