评判

entry/src/main/cpp/sdk/common/HVersion.h

@@ -27,7 +27,7 @@
 #define JUDGE_VERSION_MAJOR  1
 #define JUDGE_VERSION_MINOR  0
 #define JUDGE_VERSION_PATCH  3
-#define JUDGE_VERSION_STAMP  "2505091540b"
+#define JUDGE_VERSION_STAMP  "2505132200b"
 #if JUDGE_USE_OLD
 #   undef JUDGE_VERSION_STAMP
 #   define JUDGE_VERSION_STAMP  "2411121010b.old"

entry/src/main/cpp/sdk/common/Tools.cpp

@@ -1,6 +1,21 @@
 #include "Tools.h"
+#include "HVersion.h"
 #include "Loggerxx.h"
 
+bool Tools::checkVersion(const std::string& version)
+{
+    std::vector<std::string> ver = Tools::split(version, ".");
+    //int major = std::atoi(ver[0].c_str());
+    //int minor = std::atoi(ver[1].c_str());
+    //int patch = std::atoi(ver[2].c_str());
+    std::string v3 = ver[3];
+    if(v3.back() == 'b')
+    {
+        v3.pop_back();
+    }
+    return (v3 < "2505121242");
+}
+
 int64 Tools::nowTime()
 {
     return  std::chrono::duration_cast<std::chrono::milliseconds>

entry/src/main/cpp/sdk/common/Tools.h

@@ -13,6 +13,8 @@
 class Tools
 {
 public:
+
+    static bool checkVersion(const std::string& version);
     //获取当前系统时间，单位：毫秒
     static int64 nowTime();
     //壁钟，防止有人篡改系统时间，导致考试有些评判项目计时限时不准
@@ -190,6 +192,7 @@ public:
     //获取当前机器的CPU逻辑核心数
     static int getCpuProcessors();
 
+
 };
 
 #endif // TOOLS_H

entry/src/main/cpp/sdk/exam/ExamCarSub2.cpp

@@ -284,13 +284,35 @@ bool ExamCarSub2::examMarkItem(ExamItemCode itemNo, const std::string& serial, b
 
 void ExamCarSub2::examNonGps(TChuanGan* cg)
 {
-    const TGpsInfo& gps = cg->real.gps;
+    const TGpsInfo* gps = nullptr;
-    if(!gps.rtkEnabled || !gps.valid() || cg->real.gps.errorFlag)
+    bool ok = true;
+    const TGpsInfo* gps1 = &cg->real.gps;
+    //如果gps1异常了就直接报gps1,如gps1正常就检查gps2
+    if(!gps1->rtkEnabled || !gps1->valid() || gps1->errorFlag)
+    {
+        gps = gps1;
+        ok = false;
+    }
+    else
+    {
+        ExamCarType cartype = carType();
+        if(IS_A2C6(cartype))
+        {
+            const TGpsInfo* gps2 = &cg->real.gps2;
+            if(!gps2->rtkEnabled || !gps2->valid() || gps2->errorFlag)
+            {
+                gps = gps2;
+                ok = false;
+            }
+        }
+    }
+
+    if(!ok)
     {
         if(m_nontime == 0)
         {
-            m_nontime = gps.sj;
+            m_nontime = Tools::nowTime();
-            m_nongps  = gps;
+            m_nongps  = *gps;
             createEventNonGps({TNonGpsReport, m_nongps}); //上报GPS异常数据
         }
         else

entry/src/main/cpp/sdk/exam/ExamCarSub3.cpp

@@ -268,7 +268,7 @@ bool ExamCarSub3::Init_KM3_Global()
     const TDBCarInfo* carInfo = TableCarInfo->findCarInfo(carId);
     if(nullptr == carInfo || carInfo->CARCLASS.empty())
     {
-        logerror("database not find carID=%d or carClass=%p is empty, init error", carId, carInfo);
+        logerror("database carInfo error, carID=%d, carInfo=0x%p, carClass=%s", carId, carInfo, carInfo->CARCLASS.c_str());
         return false;
     }
     TASSERT_BOOL(carInfo->CARCLASS == carClass(), "");
@@ -409,7 +409,8 @@ bool ExamCarSub3::Init_KM3_Global()
         //当前时间到达夜考时间点了
         //if( (Now() - Trunc(now())) > (Car.Night_Hr / 24 + Car.Night_Mi / 24 / 60) )
         DateTimex dt = Tools::nowDateTime();
-        if(dt.hour*60 + dt.minute >= m_car.Night_Hr*60 + m_car.Night_Mi)
+        //考试模式判断时间，训练模式用外壳传的参数
+        if((isExamMode() && (dt.hour*60 + dt.minute >= m_car.Night_Hr*60 + m_car.Night_Mi)) || (isExamDrill() && isSfyk()))
         {
             //如果不考模拟灯光
             if(!m_stuInfo.dmndg)
@@ -4405,13 +4406,35 @@ bool ExamCarSub3::examMarkItem(ExamItemCode itemNo, const std::string& serial, b
 
 void ExamCarSub3::examNonGps(TChuanGan* cg)
 {
-    const TGpsInfo& gps = cg->real.gps;
+    const TGpsInfo* gps = nullptr;
-    if(!gps.rtkEnabled || !gps.valid() || cg->real.gps.errorFlag)
+    bool ok = true;
+    const TGpsInfo* gps1 = &cg->real.gps;
+    //如果gps1异常了就直接报gps1,如gps1正常就检查gps2
+    if(!gps1->rtkEnabled || !gps1->valid() || gps1->errorFlag)
+    {
+        gps = gps1;
+        ok = false;
+    }
+    else
+    {
+        ExamCarType cartype = carType();
+        if(IS_A2C6(cartype))
+        {
+            const TGpsInfo* gps2 = &cg->real.gps2;
+            if(!gps2->rtkEnabled || !gps2->valid() || gps2->errorFlag)
+            {
+                gps = gps2;
+                ok = false;
+            }
+        }
+    }
+
+    if(!ok)
     {
         if(m_nontime == 0)
         {
             m_nontime = Tools::nowTime();
-            m_nongps  = gps;
+            m_nongps  = *gps;
             createEventNonGps({TNonGpsReport, m_nongps}); //上报GPS异常数据
         }
         else
@@ -5848,6 +5871,8 @@ void ExamCarSub3::Calc_LaneDistance_Tail()
                 {
                     calcToLaneArc2(Lj, road->Area, body.b1_b_G, body.ZH_W_b_G, RTKKM3_Tail.Wheel_LB_ToBaseLine);
                     calcToLaneArc2(Lj, road->Area, body.b1_b_G, body.YH_W_b_G, RTKKM3_Tail.Wheel_RB_ToBaseLine);
+                    calcToLaneArc2(Lj, road->Area, body.b1_b_G, body.b(RF_I), RTKKM3_Tail.Body_RF_ToBaseLine);
+                    calcToLaneArc2(Lj, road->Area, body.b1_b_G, body.b(RB_I), RTKKM3_Tail.Body_RB_ToBaseLine);
                 }
 
                 //else if(p == 3) //3：车身左侧与本车道左侧距离
@@ -5870,6 +5895,8 @@ void ExamCarSub3::Calc_LaneDistance_Tail()
                 {
                     calcToLaneLine(Lj, road->Area.Pts, body.b1_b_G, body.ZH_W_b_G, RTKKM3_Tail.Wheel_LB_ToBaseLine);
                     calcToLaneLine(Lj, road->Area.Pts, body.b1_b_G, body.YH_W_b_G, RTKKM3_Tail.Wheel_RB_ToBaseLine);
+                    calcToLaneLine(Lj, road->Area.Pts, body.b1_b_G, body.b(RF_I), RTKKM3_Tail.Body_RF_ToBaseLine, true);
+                    calcToLaneLine(Lj, road->Area.Pts, body.b1_b_G, body.b(RB_I), RTKKM3_Tail.Body_RB_ToBaseLine, true);
                 }
 
                 //else if(p == 3)  //3：车身左侧与本车道左侧距离

entry/src/main/cpp/sdk/exam/ExamSensor.cpp

@@ -168,6 +168,9 @@ bool ExamSensor::convertDatas(TChuanGan* cg)
     //}
 
     //航向角(默认是按诺瓦泰的数据格式定义的，所以要加上180度) 1:天宝（北云）/C1 2:诺瓦泰
+    //2505121242兼容这个时间之前的特殊版卡类型做航向角转换处理的
+    if(Tools::checkVersion(m_car->carVerison()))
+    {
         if(gps.bklx == boardTypeTB)
         {
             gps.hxj += 180.0;
@@ -176,6 +179,8 @@ bool ExamSensor::convertDatas(TChuanGan* cg)
         {
             gps.hxj -= 360.0;
         }
+    }
+
     //实际上车这里经纬度要转化，测试的数据都是转化好的
     gps.jd = GpsMath::convertGpsCoord2(gps.jd);
     gps.wd = GpsMath::convertGpsCoord2(gps.wd);
@@ -190,6 +195,9 @@ bool ExamSensor::convertDatas(TChuanGan* cg)
     if(IS_A2C6(cartype))
     {
         TGpsInfo& gps2 = cg->real.gps2;
+        //2505121242兼容这个时间之前的特殊版卡类型做航向角转换处理的
+        if(Tools::checkVersion(m_car->carVerison()))
+        {
             if(gps2.bklx == boardTypeTB)
             {
                 gps2.hxj += 180.0;
@@ -198,11 +206,12 @@ bool ExamSensor::convertDatas(TChuanGan* cg)
             {
                 gps2.hxj -= 360.0;
             }
+        }
         //实际上车这里经纬度要转化，测试的数据都是转化好的
         gps2.jd = GpsMath::convertGpsCoord2(gps2.jd);
         gps2.wd = GpsMath::convertGpsCoord2(gps2.wd);
 #if !JUDGE_USE_INSPECT
-        gps.sd *= GPS_VEL_COEFF;   //无锡所检测不需要乘这个系数，因为我们实际用的时候是gps速度，无锡所是加工后的数据
+        gps2.sd *= GPS_VEL_COEFF;   //无锡所检测不需要乘这个系数，因为我们实际用的时候是gps速度，无锡所是加工后的数据
 #endif
     }
 
@@ -995,80 +1004,78 @@ void ExamSensor::setStatus(TChuanGan* cg, CarMoveState s)
 
 bool ExamSensor::filterWrong(TChuanGan* cg)
 {
-    TGpsInfo& gps = cg->real.gps;
-
-    //位置差分, 角度差分
-    if(gps.dwzt == gpsStatusNARROW_INT && gps.jdzt == gpsStatusANGLE)
-    {
-        gps.rtkEnabled = true;
-    }
-    else
-    {
-        gps.rtkEnabled = false;
-        logwarning("rtk Enabled not, dwzt=%d, jdzt=%d", gps.dwzt, gps.jdzt);
-    }
-
     TChuanGan* his = m_car->historyChuanGan();
-    gps.errorFlag = false;
+    bool ok1 = filterGpsWrong(&cg->real.gps, his != nullptr ? &his->real.gps : nullptr);
-    //过滤GPS漂移数据
+    bool ok2 = true;
-    if(his != nullptr)
+    ExamCarType cartype = m_car->carType();
+    if(IS_A2C6(cartype))
     {
-        const TGpsInfo& h_gps = his->real.gps;
+        ok2 = filterGpsWrong(&cg->real.gps2, his != nullptr ? &his->real.gps2 : nullptr);
-        int64 interval = std::abs(gps.sj - h_gps.sj);
-        //如果是正常连续数据才判断漂移，有可能是断网收不到数据，然后过了几秒又收到数据距离会远超过限制距离
-        if(interval < 1*SECOND)
-        {
-            TGPSPoint p1 = h_gps.to();
-            TGPSPoint p2 = gps.to();
-            double distance = GpsMath::calcGpsDistanceCM(p1, p2, p1.gc);
-            if(distance > DEVIATION_RANGE_DISTANCE_CM)
-            {
-                logwarning("deviation rang distance=%0.2f CM", distance);
-                gps.errorFlag = true;
-            }
-            double angle = std::abs(gps.hxj - h_gps.hxj);
-            if(angle > DEVIATION_RANGE_ANGLE_MIN && angle < DEVIATION_RANGE_ANGLE_MAX)
-            {
-                logwarning("deviation rang angle=%0.2f", angle);
-                gps.errorFlag = true;
-            }
-        }
     }
 
     m_car->examNonGps(cg);
 
-    if(gps.errorFlag)
+    //ExamSubject sub = m_car->examSubject();
-    {
+    //if(ExamSubject2 == sub)
-        logwarning("errorFlag invalid dwzt=%d, jdzt=%d, jd=%0.8f, wd=%0.8f", gps.dwzt, gps.jdzt, gps.jd, gps.wd);
+    //{
-        return false;
+    //    return ok1 && ok2;
+    //}
+    //else if(ExamSubject3 == sub)
+    //{
+    //    return ok1 && ok2;
+    //}
+
+    return ok1 && ok2;
 }
 
-    if(!gps.valid())
+bool ExamSensor::filterGpsWrong(TGpsInfo* gps, const TGpsInfo* h_gps)
 {
-        logwarning("gps invalid dwzt=%d, jdzt=%d, jd=%0.8f, wd=%0.8f", gps.dwzt, gps.jdzt, gps.jd, gps.wd);
+    //位置差分, 角度差分
-        return false;
+    if(gps->dwzt == gpsStatusNARROW_INT && gps->jdzt == gpsStatusANGLE)
-    }
-
-    ExamSubject sub = m_car->examSubject();
-    if(ExamSubject2 == sub)
     {
-        //return gps.rtkEnabled == true && gps.valid();
+        gps->rtkEnabled = true;
-        return gps.valid();   //2025-03-20 modify
-    }
-    else if(ExamSubject3 == sub)
-    {
-        if(gps.valid()) //20240811 yhy
-        {
-            //数据是正常的
     }
     else
     {
-            //if(m_car->historyCount() > 0)
+        gps->rtkEnabled = false;
-            //{
+        logwarning("rtk Enabled not, dwzt=%d, jdzt=%d", gps->dwzt, gps->jdzt);
-            //    cloneWith(m_car->historyChuanGan(), cg);
-            //}
     }
-        return true;
+
+    gps->errorFlag = false;
+    //过滤GPS漂移数据
+    if(h_gps != nullptr)
+    {
+        int64 interval = std::abs(gps->sj - h_gps->sj);
+        //如果是正常连续数据才判断漂移，有可能是断网收不到数据，然后过了几秒又收到数据距离会远超过限制距离
+        if(interval < 1*SECOND)
+        {
+            TGPSPoint p1 = h_gps->to();
+            TGPSPoint p2 = gps->to();
+            double distance = GpsMath::calcGpsDistanceCM(p1, p2, p1.gc);
+            if(distance > DEVIATION_RANGE_DISTANCE_CM)
+            {
+                logwarning("deviation rang distance=%0.2f CM", distance);
+                gps->errorFlag = true;
+            }
+            double angle = std::abs(gps->hxj - h_gps->hxj);
+            if(angle > DEVIATION_RANGE_ANGLE_MIN && angle < DEVIATION_RANGE_ANGLE_MAX)
+            {
+                logwarning("deviation rang angle=%0.2f", angle);
+                gps->errorFlag = true;
+            }
+        }
+    }
+
+    if(gps->errorFlag)
+    {
+        logwarning("errorFlag invalid dwzt=%d, jdzt=%d, jd=%0.8f, wd=%0.8f", gps->dwzt, gps->jdzt, gps->jd, gps->wd);
+        return false;
+    }
+
+    if(!gps->valid())
+    {
+        logwarning("gps invalid dwzt=%d, jdzt=%d, jd=%0.8f, wd=%0.8f", gps->dwzt, gps->jdzt, gps->jd, gps->wd);
+        return false;
     }
 
     return true;

entry/src/main/cpp/sdk/exam/ExamSensor.h

@@ -26,6 +26,7 @@ public:
     virtual bool         calcCarBody(TChuanGan* cg);
     //过滤异常数据
     virtual bool         filterWrong(TChuanGan* cg);
+    virtual bool         filterGpsWrong(TGpsInfo* gps, const TGpsInfo* h_gps);
     //计算考车状态(科目三)
     virtual bool         GetCarDirStauts(TChuanGan* cg);
     //计算考车状态(科目二)

entry/src/main/cpp/sdk/exam/IExamCar.cpp

@@ -483,6 +483,26 @@ void IExamCar::examPerformSummary()
     exam.bxjl = dis.y*10;  //单位毫米 所以要乘10
     exam.hint = m_message;
     exam.lane = historyChuanGan()->RTKKM3;
+    ExamCarType cartype = carType();
+    if(IS_A2C6(cartype))
+    {
+        //对于牵引车，车身距离都是指的挂车（车厢），如果车轮，车前轮指的是车头的轮子，车后轮指的挂车最后面轮子，和军华确认过的 2025-05-13
+        const TRTKResult& rtkTail = historyChuanGan()->RTKKM3_Tail;
+        TRTKResult& lane = exam.lane;
+
+        lane.Body_LF_ToLeftEdge = rtkTail.Body_LF_ToLeftEdge;
+        lane.Body_LB_ToLeftEdge = rtkTail.Body_LB_ToLeftEdge;
+        lane.Body_RF_ToRightEdge = rtkTail.Body_RF_ToRightEdge;
+        lane.Body_RB_ToRightEdge = rtkTail.Body_RB_ToRightEdge;
+        lane.Body_RF_ToBaseLine = rtkTail.Body_RF_ToBaseLine;
+        lane.Body_RB_ToBaseLine = rtkTail.Body_RB_ToBaseLine;
+
+        lane.Wheel_RB_ToRightEdge = rtkTail.Wheel_RB_ToRightEdge;
+        lane.Wheel_RB_ToBaseLine = rtkTail.Wheel_RB_ToBaseLine;
+        lane.Wheel_LB_ToRightEdge = rtkTail.Wheel_LB_ToRightEdge;
+        lane.Wheel_LB_ToBaseLine = rtkTail.Wheel_LB_ToBaseLine;
+
+    }
 
     std::string data = XParser::toAny(exam);
     FactoryExamService->examJudgeCallbackPerformToCaller(data.c_str(), data.size());

entry/src/main/cpp/sdk/exam/IExamCar.h

@@ -89,6 +89,7 @@ public:
     virtual ISurveyCarAbstract*  carModel()         MEANS { return m_carModel; }
     virtual int                  modelSize()        MEANS { return m_carModel->size(); }
     virtual ExamSubject          examSubject()      MEANS { return ExamSubject(m_carInfo->kskm); }
+    virtual const std::string&   carVerison()       MEANS { return m_carInfo->sdkver; }
     virtual int                  carID()            MEANS { return m_carInfo->kchm; }
     virtual const std::string&   carClass()         MEANS { return m_carInfo->name; }
     virtual int                  carCode()          MEANS { return m_carCode; }

entry/src/main/cpp/sdk/exam/IExamCarAbstract.h

@@ -104,6 +104,8 @@ public:
     virtual int                  modelSize()        const = 0;
     //考试科目
     virtual ExamSubject          examSubject()      const = 0;
+    //轨迹初始化版本号
+    virtual const std::string&   carVerison()       const = 0;
     //考车ID
     virtual int                  carID()            const = 0;
     //考车名称

entry/src/main/cpp/sdk/graphic/GraphicImage.cpp

@@ -136,12 +136,6 @@ const char* GraphicImage::image()
 #endif
 
     int offset_y = 1;
-    if(m_showVersion)
-    {
-        drawText(Pointi(1, offset_y), JUDGE_VERSION_INFO, RGB_BLUE, 16);
-        offset_y += 16;
-    }
-
     if(m_showTime)
     {
         int64 tick = Tools::nowTime();
@@ -149,6 +143,11 @@ const char* GraphicImage::image()
         drawText(Pointi(1, offset_y), tm.c_str(), RGB_PERILLA, 16);
         offset_y += 16;
     }
+    //if(m_showVersion)
+    //{
+    //    drawText(Pointi(1, offset_y), JUDGE_VERSION_INFO, RGB_BLUE, 16);
+    //    offset_y += 16;
+    //}
 
     toRgb();
     return (const char*)m_rgb;

entry/src/main/cpp/sdk/judge/sub3/Sub3Judge02Qbxx.cpp

@@ -52,6 +52,16 @@ bool Sub3Judge02Qbxx::dealJudgeEnter()
 
     m_exam->TestPro = ItemProFlagJudge;
     //ToDo2:生成进项目事件
+
+    if(m_car->examAlready(Sub3ItemType01Sczb) && m_car->examAlready(Sub3ItemType41Mndg))
+    {
+        if(!m_sound_qibu)
+        {
+            m_sound_qibu = true;
+            m_car->createEventSound({m_exam->ItemNo, sound::sub3_402001});
+        }
+    }
+
     return true;
 }
 

entry/src/main/cpp/sdk/judge/sub3/Sub3Judge02Qbxx.h

@@ -69,7 +69,7 @@ protected:
 private:
     TSub3Item02Qbxx m_itemv;
     bool m_Pub_First_QiBu_Flag = false; //起步方向灯和喇叭 只判一次 第一次进起步项目才判
-
+    bool m_sound_qibu = false;
     //**********************以下是新科目三************************
 private:
     //起步项目中，车辆状态从停止切换前进前10s内，头部姿态没有大于左后侧角度【23度】

entry/src/main/cpp/sdk/judge/sub3/Sub3Judge11Kbtc.cpp

@@ -554,7 +554,7 @@ void Sub3Judge11Kbtc::DoStatus_2()
     else if(s430 == "1")  //拉手刹放空挡
     {
         //20180625
-        if(sor.ssc == SYES && sor.dw == 0)
+        if(sor.ssc == SYES && (sor.dw == 0 || sor.dw == 10))
         {
             m_itemv.Status = 3;
             return;
@@ -699,8 +699,14 @@ void Sub3Judge11Kbtc::DoStatus_3()
         }
 
         //压路边线
+        if(!IS_A2C6(m_carType))
+        {
             Judge_KBTC_YaXian();
+        }
+        else
+        {
             Judge_KBTC_YaXian_Tail(); //A2C6-20250314
+        }
 
     }
     else
@@ -1076,10 +1082,16 @@ void Sub3Judge11Kbtc::DoStatus_4()
         if(ksdd == siteof::hbtskm3 || ksdd == siteof::lyggy)
         {
             if(m_car->rtkEnabled())
+            {
+                if(!IS_A2C6(m_carType))
                 {
                     Judge_KBTC_YaXian();
+                }
+                else
+                {
                     Judge_KBTC_YaXian_Tail(); //A2C6-20250314
                 }
+            }
         } // 20171211
     }
     else //20170215
@@ -1307,7 +1319,6 @@ void Sub3Judge11Kbtc::Judge_KBTC_YaXian()
         RightJL1_RF = RTKKM3_1.Body_RF_ToBaseLine;
         RightJL2_RF = RTKKM3_2.Body_RF_ToBaseLine;
 
-
         RightJL0_RB = RTKKM3_0.Body_RB_ToBaseLine;
         RightJL1_RB = RTKKM3_1.Body_RB_ToBaseLine;
         RightJL2_RB = RTKKM3_2.Body_RB_ToBaseLine;
@@ -1457,16 +1468,20 @@ void Sub3Judge11Kbtc::Judge_KBTC_YaXian_Tail()
         RightJL1_RF = RTKKM3_Tail_1.Body_RF_ToBaseLine;
         RightJL2_RF = RTKKM3_Tail_2.Body_RF_ToBaseLine;
 
-
         RightJL0_RB = RTKKM3_Tail_0.Body_RB_ToBaseLine;
         RightJL1_RB = RTKKM3_Tail_1.Body_RB_ToBaseLine;
         RightJL2_RB = RTKKM3_Tail_2.Body_RB_ToBaseLine;
     }
     else
     {
-        RightJL0_RF = RTKKM3_Tail_0.Wheel_RF_ToBaseLine;
+        //对于牵引车，车身距离都是指的挂车（车厢），如果车轮，车前轮指的是车头的轮子，车后轮指的挂车最后面轮子，和军华确认过的 2025-05-13
-        RightJL1_RF = RTKKM3_Tail_1.Wheel_RF_ToBaseLine;
+        const TRTKResult& RTKKM3_0 = m_car->historyRtkKM3(0);
-        RightJL2_RF = RTKKM3_Tail_2.Wheel_RF_ToBaseLine;
+        const TRTKResult& RTKKM3_1 = m_car->historyRtkKM3(1);
+        const TRTKResult& RTKKM3_2 = m_car->historyRtkKM3(2);
+
+        RightJL0_RF = RTKKM3_0.Wheel_RF_ToBaseLine;
+        RightJL1_RF = RTKKM3_1.Wheel_RF_ToBaseLine;
+        RightJL2_RF = RTKKM3_2.Wheel_RF_ToBaseLine;
 
         RightJL0_RB = RTKKM3_Tail_0.Wheel_RB_ToBaseLine;
         RightJL1_RB = RTKKM3_Tail_1.Wheel_RB_ToBaseLine;

entry/src/main/cpp/sdk/judge/sub3/Sub3Judge20Comm.cpp

@@ -868,7 +868,8 @@ void Sub3Judge20Comm::CallMoNiDengGuang()
 
             if(m > 0)
             {
-                if(m_engineTick > 0 && cg->tkCnt - m_engineTick > m*SECOND)
+                //if(m_engineTick > 0 && cg->tkCnt - m_engineTick > m*SECOND)
+                if(m_engineTick > 0 &&  m_car->timeElapsed() > m*SECOND)
                 {
                     JUDGE_MARK_SUB3(20, "94", true);
                 }