#include "Sub3Judge06Rxhd.h"
#include "HFactory.h"

Sub3Judge06Rxhd::Sub3Judge06Rxhd()
{
    m_exam = __NEW__(TKM3Item);
}

Sub3Judge06Rxhd::~Sub3Judge06Rxhd()
{
    __DELETE__(m_exam);
}

bool Sub3Judge06Rxhd::dealJudgeEnter()
{
    if(m_exam->TestPro != ItemProFlagInit) return false;
    // if(!m_car->rtkEnabled() || !m_car->rtkEnabled(1)) return false;

    const TChuanGan* cg = m_car->historyChuanGan();
    const std::string& ksdd = TableSysSet->get211();
    setSeed(cg->real.gps.sj);

    int TempJL = m_itemv.last_jl;  //注意：这里要备份出来
    m_itemv = TSub3Item06Rxhd();

    m_itemv.Status = 1;
    m_itemv.last_jl = TempJL;
    //进入项目时刻的累计距离
    m_itemv.tmpljjl = cg->ai_ljjl;

    //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
    const std::vector<std::string>& s512 = TableSysSet->asArray512();
    m_itemv.WavKind = s512.size() > 2 && s512[2] != "" ? std::atoi(s512[2].c_str()) : 0;

    //SysSet[509]:7
    //连续的人行横道间隔不超过30米，不需判断减速
    const std::vector<std::string>& s509 = TableSysSet->asArray509();
    m_itemv.tmp_jskf = s509.size() > 6 && s509[6] != "" ? std::atoi(s509[6].c_str()) : 0;
    m_itemv.tmp_xmjl = 500; //厘米
    if(ksdd == siteof::dehongkm3) //特殊地点版本
    {
        m_itemv.tmp_xmjl = 3000;
    }
    if(ksdd == siteof::nj || ksdd  == siteof::njdckm3)
    {
        //ToDo:语音提示:通过人行横道
        m_itemv.tmp_xmjl = 8000; //厘米
    }
    else
    {
        if(m_itemv.WavKind == 1)
        {
            //ToDo:语音提示:通过人行横道
        }
    }

    m_itemv.tmp_xrtg = true; //行人通过标志

    if(m_exam->Gps_Itemno1 == 1)
    {
        //进项目，评判车速
        m_itemv.Status = 2;
        m_itemv.tmp_ljjlcm = cg->ai_ljjl_cm; //20140730
    }

    //SysSet[334]:1 人行横道随机提示有行人通过(随机提示比例0~10)
    const std::vector<std::string>& s334 = TableSysSet->asArray334();
    if(s334.size() > 0 && s334[0] != "")
    {
        //Randomize;
        //a = Random(10) + 1; //1-10
        int a = random2(1, 10);
        if(a <= std::atoi(s334[0].c_str()))  //20180823
        {
            m_itemv.tmp_xrtg = false;
            //Todo:语音提示：有行人通过
            m_car->createEventSound({itemNo(), sound::sub3_410002});
        }
        else
        {
            m_itemv.tmp_xrtg = true;
        }
    }
    //得到减速类型
    //SysSet[522]:
    //(*
    //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。
    //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）；
    //减速类型：
    //*)

    const std::vector<std::vector<std::string>>& s522 = TableSysSet->asArray2_522();
    if(s522.size() > 1)
    {
        const std::vector<std::string>& s = s522[1];
        //减速类型
        m_itemv.jiansu_leixing = s.size() > 0 && s[0] != "" ? std::atoi(s[0].c_str()) : 0;
        //速度阈值
        m_itemv.jiansu_sudu = s.size() > 1 && s[1] != "" ? std::atoi(s[1].c_str()) : 30;
    }
    if(m_itemv.jiansu_leixing > 4)
        m_itemv.jiansu_leixing = 0;

    m_exam->TestPro = ItemProFlagJudge;
    //ToDo2:生成进项目事件
    return true;
}

void Sub3Judge06Rxhd::dealJudgeItem()
{
    HELP_COST_TIME("");
    if(m_exam->TestPro != ItemProFlagJudge) return;
    if(!judgeAllowable()) return;

    const TChuanGan* cg = m_car->historyChuanGan();
    const TSensorInfo& sor = cg->real.sensor;
    const std::string& ksdd = TableSysSet->get211();

    //南京地区需要有脚刹车动作
    if(!m_itemv.b_Jsc)
    {
        if(sor.jsc == SYES)
            m_itemv.b_Jsc = true;
    }

    //20170415
    if(ksdd == siteof::dehongkm3)
    {
        if((cg->ai_ljjl_cm - m_itemv.tmp_ljjlcm) >= m_itemv.tmp_xmjl)
        {
            if(CheckJL_ShaChe(40) == false)
            {
                //不按规定减速慢行
                JUDGE_MARK_SUB3(6, "02", false); //20160928
            }
            m_exam->TestPro = ItemProFlagEnd;
            return;
        }
        return;
    }

    if(m_itemv.Status == 1)
    {
        if(ksdd == siteof::guizhou || ksdd == siteof::guizhouas)
        {
            if(!m_itemv.tmp_xrtg)
            {
                if(m_itemv.tcsj == 0)
                {
                    if(cg->move == moveStop)
                        m_itemv.tcsj = cg->tkCnt;
                }
                else
                {
                    if(cg->tkCnt - m_itemv.tcsj > 5*SECOND)
                    {
                        //ToDo:语音播报：行人已通过
                        m_itemv.tmp_xrtg = true;
                        m_car->createEventSound({itemNo(), sound::sub3_410003});
                    }
                    else
                    {
                        if(cg->move != moveStop)
                            m_itemv.tcsj = 0;
                    }
                }
            }
        }
        else
        {
            if(m_itemv.tmp_xrtg == false && cg->move == moveStop)
            {
                m_itemv.tmp_xrtg = true;
                if(m_car->historyMoveState(1) != moveStop)
                {
                    //ToDo:语音播报：行人已通过
                    m_car->createEventSound({itemNo(), sound::sub3_410003});
                }
            }
        }

        //GPS进入下一阶段
        if(m_exam->Gps_Itemno1 == 1)
        {
            m_itemv.Status = 2;
            m_itemv.tmp_ljjlcm = cg->ai_ljjl_cm; //20140730
            return;
        }
    }
    else if(m_itemv.Status == 2)
    {
        m_itemv.Status = 3;
        //行人正在通过人行横道线
        if(!m_itemv.tmp_xrtg)
        {
            JUDGE_MARK_SUB3(6, "03", true);
        }
        //20181016  20190219   20190305
        bool b_jsfk = true;
        if(m_itemv.tmp_jskf == 1)
        {
            if(cg->ai_ljjl - m_itemv.last_jl < 50)
                b_jsfk = false;
        }

        if(ksdd == siteof::GXWZKM3 || ksdd == siteof::NMGTLKM3 || ksdd == siteof::guizhou || ksdd == siteof::guizhouas)
        {
            if(ksdd == siteof::guizhouas)
            {
                if(CheckJL_ShaChe(40) == false)
                    JUDGE_MARK_SUB3(6, "02", false);
                if(CheckJL_CS(30) == false)
                    JUDGE_MARK_SUB3(20, "38", false);
            }
            else
            {
                if(CheckJL_ShaChe(40) == false || CheckJL_CS(30) == false)
                    JUDGE_MARK_SUB3(6, "02", false);
            }
        }
        else if(ksdd == siteof::njdckm3)
        {
            if(CheckJL_ShaChe(100) == false)
                JUDGE_MARK_SUB3(6, "02", false);
        }
        else if(b_jsfk)
        {
            //不按规定减速慢行
            if(ksdd != siteof::nj)
            {
                if(m_itemv.jiansu_leixing > 0)
                {
                    if(m_itemv.jiansu_leixing == 1)
                    {
                        if(CheckJL_ShaChe(30) == false)
                        {
                            JUDGE_MARK_SUB3(6, "02", false);
                        }
                    }
                    else if(m_itemv.jiansu_leixing == 2)
                    {
                        if(CheckJL_CS(30, m_itemv.jiansu_sudu) == false)
                            JUDGE_MARK_SUB3(6, "02", false);
                    }
                    else if(m_itemv.jiansu_leixing == 3)
                    {
                        if(CheckJL_ShaChe(30) == false)
                        {
                            JUDGE_MARK_SUB3(6, "02", false);
                        }
                        else
                        {
                            if(CheckJL_CS(30, m_itemv.jiansu_sudu) == false)
                                JUDGE_MARK_SUB3(6, "02", false);
                        }
                    }
                    else if(m_itemv.jiansu_leixing == 4)
                    {
                        if(CheckJL_CS(30, 2) == false)
                            JUDGE_MARK_SUB3(6, "02", false);
                    }
                }
                else
                {
                    TTestCtl* ctl = m_car->getTTestCtl();
                    if(ctl->JianSuLeiXing == 2)  //20190411
                    {
                        if(CheckJL_CheShu_New(30) == false)
                            JUDGE_MARK_SUB3(6, "02", false);
                    }
                    else
                    {
                        if(CheckJL_ShaChe(30) == false)
                        {
                            //判断车速
                            if(ctl->JianSuLeiXing == 1)  //if(m_itemv.jiansu_leixing == 1)
                            {
                                if(CheckJL_CS(30) == false)
                                {
                                    JUDGE_MARK_SUB3(6, "02", false);
                                }
                            }
                            else
                            {
                                //20180412 30米是否有停车状态，如有停车，则不扣
                                JUDGE_MARK_SUB3(6, "02", false); //20160928
                            }
                        }
                    }
                }
            }
        }

        //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;
            //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))
            {
                FindFlag = false;
            }
            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
            {
                //20171006
                if(ksdd == siteof::sz111)
                {
                    JUDGE_MARK_SUB3(41, "03", false);
                }
                else
                {
                    JUDGE_MARK_SUB3(13, "03", false);
                }
            }
        }
    }
    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);
        }
    }

}