#include "Sub3Judge11Kbtc.h"
#include "HFactory.h"

Sub3Judge11Kbtc::Sub3Judge11Kbtc()
{
    m_exam = __NEW__(TKM3Item);
}

Sub3Judge11Kbtc::~Sub3Judge11Kbtc()
{
    __DELETE__(m_exam);
}

bool Sub3Judge11Kbtc::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();

    m_car->setPubCanJudge_XiHuoFlag(true);
    m_car->setPubKaoBianTCFinish_LJJL(0);
    m_itemv = TSub3Item11Kbtc();

    //得到靠边停车的项目距离
    const std::vector<std::string>& s505 = TableSysSet->asArray505();
    m_itemv.parm_xmjl = s505.size() > 5 && s505[5] != "" ? std::atoi(s505[5].c_str()) : 150;  //strtointdef(getdotstr(6, sysset[505], ','), 150);
    //项目设定项目距离
    //SysSet[523]:靠边停车按每个项目设定项目距离
    const std::vector<std::vector<std::string>>& s523 = TableSysSet->asArray2_523();
    if(!s523.empty())
    {
        for(size_t i = 0; i < s523.size(); i++)
        {
            const std::vector<std::string>& ss523 = s523[i];
            if(ss523.empty()) continue;
            const std::string& str1 = ss523.size() > 0 && ss523[0] != "" ? ss523[0] : "";
            const std::string& str2 = ss523.size() > 1 && ss523[1] != "" ? ss523[1] : "";
            const std::string str = std::to_string(m_exam->ItemNo) + "~" + m_exam->SubName;
            if(str1 == str)
            {
                int xmjl = str2.length() > 0 ? std::atoi(str2.c_str()) : 0;
                if(xmjl > 0)
                {
                    m_itemv.parm_xmjl = xmjl;
                }
            }
        }

    }
    if(IS_C1(m_carType) || IS_C2(m_carType))
    {
        if(m_itemv.parm_xmjl > 150)
        {
            m_itemv.parm_xmjl = 150;
        }
    }
    if(ksdd == siteof::njdckm3)
    {
        m_itemv.parm_xmjl = 350;
    }

    //靠边停车误差，CM
    if(ksdd == siteof::changzhoukm3)
    {
        m_itemv.kbtcwc = 5;
    }

    m_itemv.PPFXD = s505.size() > 4 && s505[4] != "" ? std::atoi(s505[4].c_str()) : 1; //strtointdef(getdotstr(5, sysset[505], ','), 1);
    m_itemv.parm_Rtk_Ag = s505.size() > 1 && s505[1] != "" ? std::atoi(s505[1].c_str()) : 0; //strtointdef(getdotstr(2, sysset[505], ','), 0); //20151013
    //如果设置了角度变化评判方向灯，但是阈值不对，把评判方向灯方式改成：停车时刻
    if(m_itemv.PPFXD == 0 && m_itemv.parm_Rtk_Ag <= 0.001)
    {
        m_itemv.PPFXD = 1;
        m_itemv.parm_Rtk_Ag = 0;
    }

    //打方向灯需要3秒
    m_itemv.parm_Fxd3s = 3 * SECOND; //round(strtofloat(readiniparam('综合评判', 'fxdyc3s', '3')) * 1000);
    //靠边停车项目总时间
    double s505_2 = s505.size() > 2 && s505[2] != "" ? std::atof(s505[2].c_str()) : 0;
    m_itemv.parm_ZSj = std::round(s505_2 * SECOND); //round(strtofloatdef(getdotstr(3, sysset[505], ','), 0) * 1000);
    //进入时刻的时间
    m_itemv.Entet_SJ = cg->tkCnt;

    //允许停车时间秒，必须在这个时间内拉手刹陕西汉中、黑龙江省大庆需求
    int s505_3 = s505.size() > 3 && s505[3] != "" ? std::atoi(s505[3].c_str()) : 180;
    m_itemv.Parm_HanZhong_KBTC_SJ = s505_3 * SECOND; //strtointdef(getdotstr(4, sysset[505], ','), 180) * 1000;
    //停车后，多长时间内必须开车门，单位：秒
    int s505_8 = s505.size() > 8 && s505[8] != "" ? std::atoi(s505[8].c_str()) : 3600;
    m_itemv.Parm_TC_KaiCheMen_ShiJian = s505_8 * SECOND; //strtointdef(getdotstr(9, sysset[505], ','), 3600) * 1000;

    //开门后，多长时间，自动进入Status6( 关门处理阶段)
    m_itemv.parm_KaiMen_Status6 = 15;
    //特殊地点版本处理
    if(ksdd == siteof::shanghaikm3 && IS_C5(m_carType))
    {
        m_itemv.parm_KaiMen_Status6 = 210;
    }

    //大车夜考相关的 大车夜间模式，0：不启用 1：启用（不判靠边距离）
    TCar* tcar = m_car->getTCar();
    if(tcar->Night_ID == true)
    {
        if(IS_A1A2A3B1B2C6(m_carType))
        {
            m_itemv.dcykkb = s505.size() > 6 && s505[6] != "" ? std::atoi(s505[6].c_str()) : 0; //strtointdef(getdotstr(7, sysset[505], ','), 0);
        }
    }

    if(Tools::tolower(ksdd) == siteof::chongqingkm3)
    {
        if(tcar->Night_ID == true)
        {
            if(IS_A1A2A3B1B2(m_carType))
            {
                m_itemv.dcykkb = 1;
            }
        }
    }
    //允许停车车道，默认0，只能停最右车道，以路边线算距离，如果设置了此参数，则在设置的车道范围内都可以停车，以车道距离来计算。暂时保定地区启用。
    m_itemv.Parm_BaoDing_TC_CheDaoJuLi = s505.size() > 7 && s505[7] != "" ? std::atoi(s505[7].c_str()) : 0;
    if(m_itemv.Parm_BaoDing_TC_CheDaoJuLi == 0 && (ksdd == siteof::bdgaoyangkm3 || ksdd == siteof::sxbjxc))
    {
        m_itemv.Parm_BaoDing_TC_CheDaoJuLi = 10;
    }
    //进入时刻的当前距离，米
    m_itemv.Enter_ljjl = cg->ai_ljjl;

    //计次，控制语音用的
    m_itemv.jscnt = 1;

    //ToDo2:生成进项目事件
    //ToDo:语言播报-->请靠边停车
    m_exam->TestPro = ItemProFlagJudge;
    return true;
}

void Sub3Judge11Kbtc::dealJudgeItem()
{
    HELP_COST_TIME("");
    if(m_exam->TestPro != ItemProFlagJudge) return;
    //if(!m_car->rtkEnabled() || !m_car->rtkEnabled(1)) return;

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

    m_car->setPubCanJudge_XiHuoFlag(m_itemv.Status < 3);

    //特殊地区功能1
    if(ksdd == siteof::nj || ksdd == siteof::njdckm3)
    {
        if(cg->tkCnt - m_itemv.Entet_SJ >= 2000 && cg->tkCnt - m_itemv.Entet_SJ < 2600) //(m_car->GetCurrentTick2() - m_itemv.Entet_SJ >= 2000 && m_car->GetCurrentTick2() - m_itemv.Entet_SJ < 2600)
        {
            m_itemv.Enter_ljjl = cg->ai_ljjl;
        }
    }
    if(ksdd == siteof::nj)
    {
        TKM3Item* item = m_car->findExamItem(Sub3ItemType05Lkzx); //直行路口
        if(item && item->Item_Color == itemStateZk)
        {
            if(m_itemv.parm_xmjl < 250)
            {
                m_itemv.parm_xmjl = 250;
            }
        }
    }
    //特殊地区功能2
    if(ksdd == siteof::hbwh)
    {
        if(IS_A1A2A3B1B2(m_carType))
        {
            if(cg->tkCnt - m_itemv.Entet_SJ >= 2000 && cg->tkCnt - m_itemv.Entet_SJ < 3000) //(GetCurrentTick2() - m_itemv.Entet_SJ >= 2000) and (GetCurrentTick2() - m_itemv.Entet_SJ < 3000) then
            {
                 m_itemv.Enter_ljjl = cg->ai_ljjl;
            }
        }
    }

    //到达项目距离不停车
    if(cg->ai_ljjl - m_itemv.Enter_ljjl > m_itemv.parm_xmjl && cg->move == moveForward)
    {
        //未按语音指令在规定的距离内停车
        JUDGE_MARK_SUB3(11, "41", true); //20160928
        m_exam->TestPro = ItemProFlagEnd;
        return;
    }
    //20160613  商丘
    if(m_itemv.parm_ZSj > 0)
    {
        if(cg->tkCnt - m_itemv.Entet_SJ >= m_itemv.parm_ZSj)
        {
            //不按考试员指令驾驶
            JUDGE_MARK_SUB3(11, "45", true);
        }
    }
    //拉手刹前，放松脚刹
    if(ksdd == siteof::changzhoukm3)
    {
        //0-播报语音  1-语音结束，开始评判 到停车前  2-停车了但未确认，可能继续行驶  3-确认停车了   4-下车评判
        if(m_itemv.Status == 2 || m_itemv.Status == 3 || m_itemv.Status == 4)
        {
            const TChuanGan* his1 = m_car->historyChuanGan(1);

            const TSensorInfo& sor1 = m_car->historySensor(1);
            const TSensorInfo& sor2 = m_car->historySensor(2);
            const TSensorInfo& sor3 = m_car->historySensor(3);
            const TSensorInfo& sor4 = m_car->historySensor(4);
            const TSensorInfo& sor5 = m_car->historySensor(5);

            //拉手刹前，脚刹松开了
            if(sor.jsc == SNOT && sor1.jsc == SNOT && sor2.jsc == SNOT && sor3.jsc == SNOT && sor4.jsc == SNOT && sor5.jsc == SNOT &&
                    cg->move == moveStop && his1->move == moveStop && sor.dw == 0)
            {
                if(sor.ssc == SNOT)  //0表示手刹放下 1-表示拉起来状态
                {
                    if(!IS_C2(m_carType))
                    {
                        m_itemv.Kf06 = true;
                        //Mark(11, '06', false);
                    }
                }
            }
        }
    }
    else
    {
        //拉手刹前，脚刹松开了
        if(m_itemv.Status == 2 || m_itemv.Status == 3 || m_itemv.Status == 4)
        {
            const TSensorInfo& sor1 = m_car->historySensor(1);
            if(sor.ssc == SYES && sor1.ssc == SNOT)
            {
                if(sor.jsc == SNOT && sor1.jsc == SNOT)
                {
                    if(!m_itemv.Kf06)
                    {
                        m_itemv.Kf06 = true;
                        //拉紧驻车制动器前放松行车制动踏板
                        JUDGE_MARK_SUB3(11, "06", false);
                    }
                }
            }
        }
    }

    //0-播报语音  1-语音结束，开始评判 到停车前  2-停车了但未确认，可能继续行驶  3-确认停车了   4-下车评判
    switch (m_itemv.Status)
    {
    case 0: DoStatus_0(); break; //语音播报阶段
    case 1: DoStatus_1(); break;
    case 2: DoStatus_2(); break;
    case 3: DoStatus_3(); break;     //停车位置已确认，开始评判
    case 4: DoStatus_4(); break;     //下车过程评判开始
    case 5: DoStatus_5(); break;     //关门进入下一步动作
    case 6: DoStatus_6(); break;     //关门后处理
    case 100: DoStatus_100(); break; //结束项目处理
    default: TASSERT(false, ""); break;
    }

    char buf[256]= {0};
    SafeSprintf(buf, sizeof(buf), JUDGE_UTF8S("ST:%d,距离=%d"), m_itemv.Status,  cg->ai_ljjl - m_itemv.Enter_ljjl);
    showStatus(buf);

    NS3JudgeVision_40601();
    NS3JudgeVision_40604();

}

void Sub3Judge11Kbtc::DoStatus_0()
{
    bool OKFlag = false;
    if(TableSysSet->get211() != siteof::sccdcz)
    {
        OKFlag = true;
    }
    else
    {
        const TChuanGan* cg = m_car->historyChuanGan();
        const TChuanGan* his1 = m_car->historyChuanGan(1);
        const TChuanGan* his2 = m_car->historyChuanGan(2);
        const TChuanGan* his3 = m_car->historyChuanGan(3);
        if(cg->move == moveForward && his1->move == moveForward && his2->move == moveForward && his3->move == moveForward)
        {
            OKFlag = true;
        }
    }
    if(OKFlag == true)
    {
        const TChuanGan* cg = m_car->historyChuanGan();
        const TGpsInfo& gps = cg->real.gps;
        //0-播报语音  1-语音结束，开始评判 到停车前  2-停车了但未确认，可能继续行驶  3-确认停车了   4-下车评
        m_itemv.Status = 1;
        //播报完声音，初始化
        m_itemv.Enter_ljjl = cg->ai_ljjl;
        m_itemv.Enter_Rtk_Ag = gps.hxj; //20151013
        m_itemv.Enter_Tk = cg->tkCnt;
    }
}

void Sub3Judge11Kbtc::DoStatus_1()
{
    const TChuanGan* cg = m_car->historyChuanGan();
    const TChuanGan* his1 = m_car->historyChuanGan(1);
    const TSensorInfo& sor = cg->real.sensor;
    const TGpsInfo& gps = cg->real.gps;
    const std::string& ksdd = TableSysSet->get211();

    m_itemv.Kf06 = false; // 20170310
    //停车语音提示
    //方向灯标志
    if(sor.yfxd == SYES && sor.zfxd == SNOT)
    {
        if(!m_itemv.yfxd)
        {
            m_itemv.yfxd = true;
            m_itemv.yfxd_tk = cg->tkCnt;
        }
        if(m_itemv.yfxd_tk != 0)
        {
            if(cg->tkCnt - m_itemv.yfxd_tk > m_itemv.parm_Fxd3s)
            {
                m_itemv.yfxd3s = true;
            }
        }
    }
    else
    {
        if(!m_itemv.yfxd3s)
        {
            m_itemv.yfxd_tk = 0;
        }
    }
    if(cg->move == moveForward && his1->move == moveForward)
    {
        if(m_itemv.PPFXD == 0)
        {
            double lsjd = 0.0;

            if(m_itemv.Enter_Rtk_Ag + m_itemv.parm_Rtk_Ag > 360.0)
            {
                if(gps.hxj < 90.0)
                {
                    lsjd = std::abs(360 - m_itemv.Enter_Rtk_Ag + gps.hxj);
                }
                else
                {
                    lsjd = std::abs(gps.hxj - m_itemv.Enter_Rtk_Ag);
                }
            }
            else
            {
                lsjd = std::abs(gps.hxj - m_itemv.Enter_Rtk_Ag);
            }

            if(m_itemv.HasJudgeFXD == false)
            {
                if(std::abs(lsjd) >= m_itemv.parm_Rtk_Ag)
                {
                    m_itemv.HasJudgeFXD = true;
                    //评判方向灯
                    if(!m_itemv.yfxd)
                    {
                        //停车前不使用转向灯
                        JUDGE_MARK_SUB3(11, "42", false);
                    }
                    else
                    {
                        if(!m_itemv.yfxd3s)
                        {
                            //方向灯少于3秒
                            JUDGE_MARK_SUB3(11, "43", false);
                        }
                    }
                }
            }
        }
    }
    //停车进入下一阶段   20171013 排除熄火状态       20171020
    if(cg->move == moveStop && his1->move == moveStop)  //增加了前一个信号也是停车状态  20140707   20171019
    {
        if(ksdd == siteof::xjcj_hm && !IS_C2(m_carType) && !IS_C5(m_carType))  //20190215
        {
            const TSensorInfo& sor = m_car->historySensor(2);
            //车辆运行速度和挡位不匹配
            if(sor.dw != 1 && sor.dw != 2) //not (lscg[zj(2)].ai_dw in [1, 2]) then
            {
                JUDGE_MARK_SUB3(14, "02", true);
            }
        }
        // (*
        // if(cg.ai_fdjzs > 200) or ((car.kscx = 'C5') or (car.kscx = 'C2')) then
        // {
        //   //m_itemv.zdtc := true;
        // }
        // *)

        //先看505参数 然后看 按430参数确认靠边，确认靠边后再扣
        // if(m_itemv.HasJudgeFXD == false)
        // {
        //     m_itemv.HasJudgeFXD = true;
        //     //评判方向灯
        //     if(!m_itemv.yfxd)
        //     {
        //         //停车前不使用转向灯
        //         JUDGE_MARK_SUB3(11, "42", false);
        //     }
        //     else
        //     {
        //         if(!m_itemv.yfxd3s)
        //         {
        //             //方向灯少于3秒
        //             JUDGE_MARK_SUB3(11, "43", false);
        //         }
        //     }
        // }


        m_itemv.Status = 2;
        m_itemv.TCZT_Tk = cg->tkCnt;
        m_itemv.Enter_Tk = cg->tkCnt; //20151119
        //停车拉手刹相关（汉中需求）
        m_itemv.tclssjs = cg->tkCnt; //20170223
        //停车拉手刹次数
        m_itemv.tclsscnt = 0; //20170223

        if(!m_itemv.yfxd && sor.yfxd == SYES)
        {
            m_itemv.yfxd = true;
            m_itemv.yfxd_tk = cg->tkCnt;
        }
    }
}

void Sub3Judge11Kbtc::DoStatus_2()
{
    const TChuanGan* cg = m_car->historyChuanGan();
    const TSensorInfo& sor = cg->real.sensor;
    const TChuanGan* his1 = m_car->historyChuanGan(1);
    const TSensorInfo& sor1 = his1->real.sensor;
    const std::string& ksdd = TableSysSet->get211();

    //特殊地点版本处理
    if(ksdd == siteof::shanghaikm3)
    {
        //方向灯标志
        if(!m_itemv.yfxd && sor.yfxd == SYES)
        {
            m_itemv.yfxd = true;
            m_itemv.yfxd_tk = cg->tkCnt;
        }
        if(m_itemv.yfxd == true && m_itemv.yfxd3s == false && cg->tkCnt - m_itemv.yfxd_tk >= m_itemv.parm_Fxd3s && sor.yfxd == SYES)
        {
            m_itemv.yfxd3s = true;
        }
    }
    //靠边停车评判距离的次数
    m_itemv.kbtccs = 0; //20180317
    //20171030
    //靠边停车确认停车条件（0-拉手刹放空挡或拉手刹动作或开车门或解开安全带  1-拉手刹同时置空档 2-停车就判 3-开车门才判）
    const std::string& s430 = TableSysSet->get430();
    if(s430 == "2")
    {
        m_itemv.Status = 3;
        return;
    }
    //特殊地点处理2
    if(ksdd == siteof::linxiahz)
    {
        const TChuanGan* his2 = m_car->historyChuanGan(2);
        const TChuanGan* his3 = m_car->historyChuanGan(3);
        const TChuanGan* his4 = m_car->historyChuanGan(4);
        const TChuanGan* his5 = m_car->historyChuanGan(5);
        const TChuanGan* his6 = m_car->historyChuanGan(6);
        if(cg->move == moveBackward && (sor.dw < 1 || sor.dw > 5) &&
                his1->move == moveBackward && his2->move == moveBackward &&
                his3->move == moveBackward && his4->move == moveBackward &&
                his5->move != moveBackward && his6->move != moveBackward)
        {
            JUDGE_MARK_SUB3(11, "45", false);
        }
    }
    if(cg->move == moveForward && his1->move == moveForward)
    {
        const std::vector<std::string>& s505 = TableSysSet->asArray505();
        int s505_9 = s505.size() > 9 && s505[9] != "" ? std::atoi(s505[9].c_str()) : 0;
        if(ksdd == siteof::sccdcz || ksdd == siteof::ankang)
        {
            //在前后无干扰条件下停车后，再次挪动车辆
            JUDGE_MARK_SUB3(11, "11", false);
            m_itemv.Status = 1;
            return;
        }
        else if(ksdd == siteof::ynyx || ksdd == siteof::sxbjxc || ksdd == siteof::sxbjdc || s505_9 == 1)
        {
            if(cg->tkCnt - m_itemv.TCZT_Tk > 3000)
            {
                //在前后无干扰条件下停车后，再次挪动车辆
                JUDGE_MARK_SUB3(11, "11", false);
            }
            m_itemv.Status = 1;
            return;
        }
        else
        {
            if(ksdd == siteof::sccd)  //20151230
            {
                m_itemv.Status = 3;
                return;
            }
            else
            {
                m_itemv.Status = 1;
                return;
            }
        }
    }
    //特殊地区处理
    if(ksdd == siteof::hnpy)
    {
        const TChuanGan* his2 = m_car->historyChuanGan(2);
        const TChuanGan* his3 = m_car->historyChuanGan(3);
        if(cg->move == moveBackward && his1->move == moveBackward && his2->move == moveStop && his3->move == moveStop)
        {
            //在前后无干扰条件下停车后，再次挪动车辆
            JUDGE_MARK_SUB3(11, "11", false);
        }
    }

    //特殊地区处理
    if(ksdd == siteof::JXNC)
    {
        if(cg->tkCnt - m_itemv.tclssjs > m_itemv.Parm_HanZhong_KBTC_SJ)
        {
            m_itemv.Status = 3;
            return;
        }
    }

    //靠边停车确认停车条件（0-拉手刹放空挡或拉手刹动作或开车门或解开安全带  1-拉手刹同时置空档 2-停车就判 3-开车门才判）
    if(s430 == "3") //开车门
    {
        const TSensorInfo& sor2 = m_car->historySensor(2);
        const TSensorInfo& sor3 = m_car->historySensor(3);
        if(sor.mkg == SYES && sor1.mkg == SYES && sor2.mkg == SNOT && sor3.mkg == SNOT)
        {
            m_itemv.Status = 3;
            return;
        }
    }
    else if(s430 == "1")  //拉手刹放空挡
    {
        //20180625
        if(sor.ssc == SYES && sor.dw == 0)
        {
            m_itemv.Status = 3;
            return;
        }
    }
    else
    {
        const TSensorInfo& sor2 = m_car->historySensor(2);
        const TSensorInfo& sor3 = m_car->historySensor(3);
        //拉手刹放空挡 或 拉手刹动作 或 开车门 或 解开安全带 进入下一阶段
        if((sor.ssc == SYES && sor.dw == SNOT) ||
           (sor.ssc == SYES && sor1.ssc == SYES && sor2.ssc == SYES) ||
           (sor.mkg == SYES && sor1.mkg == SYES && sor2.mkg == SYES && sor3.mkg == SNOT) ||
           (sor.aqd == SNOT && sor1.aqd == SNOT && sor2.aqd == SNOT && sor3.aqd == SYES)) //20180130
        {
            m_itemv.Status = 3;
            return;
        }
        if(ksdd == siteof::hnay)
        {
            if(sor.ssc == SYES)
            {
                m_itemv.Status = 3;
                return;
            }
        }
        //20170223
        if(ksdd == siteof::gdmm) //广东茂名
        {
            if(cg->tkCnt - m_itemv.tclssjs > 10 * SECOND)
            {
                //不按考试员指令驾驶
                JUDGE_MARK_SUB3(11, "45", true);
                m_exam->TestPro = ItemProFlagEnd;
                return;
            }
            else
            {
                if(((cg->tkCnt - m_itemv.tclssjs) / 4000) != m_itemv.tclsscnt && m_itemv.tclsscnt < 2)
                {
                    //ToDo:语音提示-->请继续完成考试
                    m_itemv.tclsscnt++; //inc(m_itemv.tclsscnt);
                    m_car->createEventSound({itemNo(), sound::sub3_406005});
                }
            }
        }
    }

    //20170504
    if(ksdd == siteof::zhoukou)
    {
        if(cg->tkCnt - m_itemv.tclssjs > 60 * SECOND)
        {
            //不按考试员指令驾驶
            JUDGE_MARK_SUB3(11, "45", true);
            m_exam->TestPro = ItemProFlagEnd;
            return;
        }
    }
}

void Sub3Judge11Kbtc::DoStatus_3()
{
    const TChuanGan* cg = m_car->historyChuanGan();
    const TSensorInfo& sor = cg->real.sensor;
    const TChuanGan* his1 = m_car->historyChuanGan(1);
    const TSensorInfo& sor1 = his1->real.sensor;
    const std::string& ksdd = TableSysSet->get211();

    //特殊地点版本翻译
    if(ksdd == siteof::sxbjxc)
    {
        int wayNo = m_car->wayNo();
        if(m_car->wayNo() == 1)
        {
            if(cg->RTKKM3.BasePointInLaneNo != 2)
            {
                //不按考试员指令驾驶
                JUDGE_MARK_SUB3(11, "45", true);
            }
        }
        else if(wayNo == 2)
        {
            if(cg->RTKKM3.BasePointInLaneNo != 2)
            {
                //不按考试员指令驾驶
                JUDGE_MARK_SUB3(11, "45", true);
            }
        }
        else if(wayNo == 3)
        {
            if(cg->RTKKM3.BasePointInLaneNo != 1)
            {
                //不按考试员指令驾驶
                JUDGE_MARK_SUB3(11, "45", true);
            }
        }
    }

    if(ksdd == siteof::ynyx)
    {
        if(sor.yfxd == SYES && sor1.yfxd == SYES)
        {
            //操作完成后不关闭转向灯
            JUDGE_MARK_SUB3(20, "71", true);
        }
    }

    if(m_itemv.dcykkb == 0 || ksdd != siteof::hbwh)
    {
        if(!m_itemv.HasJudgeFXD)
        {
            m_itemv.HasJudgeFXD = true;
            if(!m_itemv.yfxd)
            {
                JUDGE_MARK_SUB3(11, "42", false);
            }
            else
            {
                if(!m_itemv.yfxd3s)
                {
                    JUDGE_MARK_SUB3(11, "43", false);
                }
            }
        }
    }

    if(m_car->rtkEnabled())
    {
        m_itemv.kbtccs = 11;
        if(ksdd == siteof::jj && cg->RTKKM3.BaseLaneCount == 0)
        {
            JUDGE_MARK_SUB3(11, "45", true);
        }
        if(ksdd == siteof::shanxilinfen &&  cg->RTKKM3.BaseLaneCount == 0)
        {
            JUDGE_MARK_SUB3(11, "45", true);
        }
        if(ksdd == siteof::shenyangkm3 && cg->RTKKM3.BaseLaneCount == 0)
        {
            JUDGE_MARK_SUB3(11, "45", true);
        }

        //压路边线
        Judge_KBTC_YaXian();
        Judge_KBTC_YaXian_Tail(); //A2C6-20250314

    }
    else
    {
        //20180531
        if(ksdd == siteof::hbtskm3 || ksdd == siteof::lyggy)
            m_itemv.kbtccs = 11;
        else
            m_itemv.kbtccs++; //inc(m_itemv.kbtccs);
    }
    //信号不好也强制结束
    if(m_itemv.kbtccs >= 11)
    {
        //特殊地点业务翻译
        TTestCtl* ctl = m_car->getTTestCtl();

        const std::vector<std::string>& s301 = TableSysSet->asArray301();
        const std::vector<std::string> s301_1 = s301.size() > 0 ? Tools::split(s301[0], ",") : std::vector<std::string>();
        const std::string s301_1_3 = s301_1.size() > 3 && s301_1[3] != "" ? s301_1[3] : "";
        if(!ctl->Dw_Cs_Ok1 && s301_1_3 != "0" && ctl->dw_kf_sj == 0 && ksdd == siteof::zjwz)
        {
            const std::vector<std::vector<std::string>>& s308 = TableSysSet->asArray2_308();
            if(!ctl->Dw_Cs_Ok2)
            {
                const std::vector<std::string> temp = s308.size() > 0 ? s308[0] : std::vector<std::string>(); //getdotstr(1, Sysset[308] + '^', '^');
                if(!temp.empty())
                {
                    for(size_t i = 0 ; i < temp.size(); i++)
                    {
                        std::string str = temp[i];
                        if(str == "")
                        {
                            break;
                        }
                        const std::vector<std::string>& ss = Tools::split(str, ",");
                        int itemNo = ss.size() > 0 ? std::atoi(ss[0].c_str()) : 0;
                        std::string serial = ss.size() > 1 ? ss[1] : "";
                        JUDGE_MARK_SUB3(itemNo, serial.c_str(), false); // JUDGE_MARK_SUB3(StrToInt(GetDotStr(1, str, ',')), GetDotStr(2, str + ',', ','));
                    }
                }
                else
                {
                    JUDGE_MARK_SUB3(20, "60", true); //A310  3次
                }
            }
            else
            {
                const std::vector<std::string> temp = s308.size() > 1 ? s308[1] : std::vector<std::string>();
                if(!temp.empty())
                {
                    for(size_t i = 0 ; i < temp.size(); i++)
                    {
                        std::string str = temp[i];
                        if(str == "")
                        {
                            break;
                        }
                        const std::vector<std::string>& ss = Tools::split(str, ",");
                        int itemNo = ss.size() > 0 ? std::atoi(ss[0].c_str()) : 0;
                        std::string serial = ss.size() > 1 ? ss[1] : "";
                        JUDGE_MARK_SUB3(itemNo, serial.c_str(), false); // JUDGE_MARK_SUB3(StrToInt(GetDotStr(1, str, ',')), GetDotStr(2, str + ',', ','));
                    }
                }
                else
                {
                    JUDGE_MARK_SUB3(20, "60", true); //A310
                }
            }
        }

        const std::string& s326 = TableSysSet->get326();
        //靠边停车后是否进入下车状态评判（0-否 1-是）
        if(s326 == "1")  //进入下车评判过程
        {
            m_itemv.Status = 4;
            m_itemv.Enter_ljjl = cg->ai_ljjl;
            //语音提示-->请下车
            m_itemv.jscnt = 1; //20170215
            m_itemv.TingCheJiShi = cg->tkCnt; //20170215
            m_car->createEventSound({itemNo(), sound::sub3_406004});
        }
        else
        {
            m_itemv.Status = 100; // 准备结束项目
            //20150702 河南要求 河南洛阳车管所科目三靠边停车修改评判要求：夜考时，靠边停车项目在停车后，拉手刹结束前需要评判是否打开视宽灯或把近光灯调成视宽灯。
            if(s326 == "2")
            {
                TKM3Item* item = m_car->findExamItem(Sub3ItemType13Yjxs);
                bool OKFlag = (item && item->Item_Color == itemStateZk);
                if(OKFlag == true)  //夜间驾驶
                {
                    if(sor1.ygd == SYES || sor1.jgd == SYES || sor1.skd == SNOT)
                    {
                        JUDGE_MARK_SUB3(11, "09", true); //夜间在路边临时停车不关闭前照灯或不开启式廓灯
                    }
                }
            }

            if(s326 == "3") //20150924 河南濮阳
            {
                m_itemv.Status = 7; //根据安全带松了判断结束  20150922
                m_itemv.Enter_Tk = cg->tkCnt; //20151113
            }
        }
    }
}

void Sub3Judge11Kbtc::DoStatus_4()
{
    const TChuanGan* cg = m_car->historyChuanGan();
    const TSensorInfo& sor = cg->real.sensor;
    const TChuanGan* his1 = m_car->historyChuanGan(1);
    const TSensorInfo& sor1 = his1->real.sensor;
    const std::string& ksdd = TableSysSet->get211();

    //贵州特殊功能1
    if(Tools::pos(siteof::guizhou, ksdd))
    {
        const TChuanGan* his2 = m_car->historyChuanGan(2);
        const TChuanGan* his3 = m_car->historyChuanGan(3);
        const TChuanGan* his4 = m_car->historyChuanGan(4);
        if(cg->move == moveForward && his1->move == moveForward && his2->move == moveForward && his3->move == moveStop && his4->move == moveStop)
        {
            //不按考试员指令驾驶
            JUDGE_MARK_SUB3(11, "45", false);
        }
    }

    if((std::abs(cg->tkCnt - m_itemv.TingCheJiShi) / 20000) >= m_itemv.jscnt && ksdd != siteof::SXHZ && ksdd != siteof::hnay)
    {
        //计次，控制语音的
        m_itemv.jscnt++; //inc(m_itemv.jscnt);
        //ToDo:语音提示-->靠边停车完成后，请下车
        m_car->createEventSound({itemNo(), sound::sub3_406004});
    }

    if(ksdd == siteof::zjnb)
    {
        if(cg->tkCnt - m_itemv.TingCheJiShi > 30*SECOND)
        {
            //不按考试员指令驾驶
            JUDGE_MARK_SUB3(11, "45", false);
        }
    }

    if(std::abs(cg->tkCnt - m_itemv.TingCheJiShi) > m_itemv.Parm_TC_KaiCheMen_ShiJian)
    {
        //不按考试员指令驾驶
        JUDGE_MARK_SUB3(11, "45", false);
    }

    const TSensorInfo& sor2 = m_car->historySensor(2);
    const TSensorInfo& sor3 = m_car->historySensor(3);
    const TSensorInfo& sor5 = m_car->historySensor(5);
    const TSensorInfo& sor6 = m_car->historySensor(6);
    const TSensorInfo& sor7 = m_car->historySensor(7);
    const TSensorInfo& sor8 = m_car->historySensor(8);
    const TSensorInfo& sor9 = m_car->historySensor(9);
    const TSensorInfo& sor10 = m_car->historySensor(10);
    if(ksdd == siteof::GXWZKM3)
    {
        if(sor.fdjzs > 0 && sor1.fdjzs > 0 && sor2.fdjzs > 0 && sor5.fdjzs > 0 && sor6.fdjzs == 0 && sor7.fdjzs == 0 && sor10.fdjzs == 0)
        {
            //因操作不当造成发动机熄火一次
            JUDGE_MARK_SUB3(20, "36", false);
        }
    }

    if(ksdd == siteof::hnay)
    {
        if(sor.fdjzs == 0 && sor1.fdjzs == 0 && sor2.fdjzs == 0 && sor5.fdjzs == 0 &&
                sor6.fdjzs == 0 && sor7.fdjzs == 0 && sor8.fdjzs > 0 && sor9.fdjzs > 0 && sor10.fdjzs > 0)
        {
            if(sor.dw > 0 && sor1.dw > 0)
            {
                const std::string& s527 = TableSysSet->get527();
                if(s527 != "1")
                {
                    //因操作不当造成发动机熄火一次
                    JUDGE_MARK_SUB3(20, "36", false);
                }
                m_itemv.chongxindianhuo = true;
                m_itemv.chongxindianhuo_tk = cg->tkCnt;
            }
            if(sor.lhq > 0 && sor1.lhq > 0)
            {
                //不按考试员指令驾驶
                JUDGE_MARK_SUB3(11, "45", false);
            }
        }
        //特殊地点版本
        if(m_itemv.chongxindianhuo)
        {
            if(sor.fdjzs > 500 && sor1.fdjzs > 500 && sor2.fdjzs > 500 && sor5.fdjzs > 500)
            {
                m_itemv.chongxindianhuo = false;
            }
            if(cg->tkCnt - m_itemv.chongxindianhuo_tk > 120000)
            {
                m_itemv.chongxindianhuo_tk = cg->tkCnt;
                //不按考试员指令驾驶
                JUDGE_MARK_SUB3(11, "45", false);
            }
        }
        else
        {
            if(sor.dh2 == SYES && sor1.dh2 == SYES && sor2.dh2 == SNOT && sor3.dh2 == SNOT)
            {
                //不按考试员指令驾驶
                JUDGE_MARK_SUB3(11, "45", false);
            }
        }
    }

    if((sor.mkg == SYES && sor1.mkg == SYES && sor2.mkg == SYES) || (ksdd == siteof::JXNC && sor.mkg == SYES))
    {
        //20150304
        if(Tools::pos(siteof::guizhou, ksdd) || ksdd == siteof::ynzt)
        {
            if(!m_itemv.bJc)
            {
                if(m_itemv.bJc2) //20160229
                {
                    //满足条件
                    m_itemv.bJc = true;
                }
                else
                {
                    //需要下车的，在打开车门前不回头观察左后方交通情况
                    JUDGE_MARK_SUB3(11, "02", false);
                    m_itemv.bJc = true;
                }
            }
        }

        if(ksdd == siteof::changzhoukm3)
        {
            if(m_itemv.Kf06)
            {
                //拉紧驻车制动器前放松行车制动踏板
                JUDGE_MARK_SUB3(11, "06", false);
                m_itemv.Kf06 = false;
            }
        }

        if(sor.ssc == SNOT && !m_itemv.Kf05)
        {
            m_itemv.Kf05 = true; //20160928
            //停车后，未拉紧驻车制动器
            JUDGE_MARK_SUB3(11, "05", false);
        }
        if(sor2.mkg == SYES || (ksdd == siteof::JXNC && sor.mkg == SYES))  //连续3帧数据是开门信号，才算开门  20140825   and (lscg[zj(5)].di_mkg = 1)
        {
            if(m_itemv.chongxindianhuo)
            {
                //不按考试员指令驾驶
                JUDGE_MARK_SUB3(11, "45", false);
            }

            TCar* tcar = m_car->getTCar();
            //夜考相关的
            //2025-02-13 yhy 修改
            if(tcar->Night_ID) //if(ksdd == siteof::shanxi && tcar->Night_ID)
            {
                int c = 0;
                if(sor2.skd == SNOT && sor.skd == SNOT)
                {
                    c = 1;
                }
                if(sor2.jgd == SYES && sor.jgd == SYES)
                {
                    c = 1;
                }
                if(sor2.ygd == SYES && sor.ygd == SYES)
                {
                    c = 1;
                }
                if(c == 1)
                {
                    //在路边临时停车不关闭前照灯和不开启示廓灯
                    JUDGE_MARK_SUB3(13, "07", true);
                }
            }

            //20180403 以开车门就评判
            //下车熄火判断时机：0 - 开门；1 - 关门
            const std::vector<std::string>& s505 = TableSysSet->asArray505();
            int s505_12 = s505.size() > 12 && s505[12] != "" ? std::atoi(s505[12].c_str()) : 0;
            if(s505_12 == 0)
            {
                int c = 0;
                if(ksdd == siteof::sxbjxc || ksdd == siteof::sxbjdc)
                {
                    if(sor.fdjzs > 600)
                    {
                        c = 1;
                    }
                }
                else
                {
                    if(sor.fdjzs > 200)
                    {
                        c = 1;
                    }
                }
                if(c == 1 && sor.fdjzs < 8000)
                {
                    //下车前不将发动机熄火
                    JUDGE_MARK_SUB3(11, "08", true);
                }
            }

            if(ksdd == siteof::scyb)
            {
                if(sor.yfxd + sor.zfxd >= 1 && sor1.yfxd + sor1.zfxd >= 1 && sor2.yfxd + sor2.zfxd >= 1)
                {
                    //不能正确使用灯光、雨刮器等车辆常用操纵件
                    JUDGE_MARK_SUB3(20, "93", false);
                }
            }

            //20180115
            if(ksdd.substr(0, 7) == siteof::guizhou)
            {
                if(sor.aqd == SYES && sor1.aqd == SYES && sor2.aqd == SYES)
                {
                    //不按规定使用安全带或者戴安全头盔
                    JUDGE_MARK_SUB3(20, "01", true);
                }
            }

            int s505_10 = s505.size() > 10 && s505[10] != "" ? std::atoi(s505[10].c_str()) : 0;
            //下车开门前是否判断安全带
            if(s505_10 == 1)
            {
                if(sor.aqd == SYES && sor1.aqd == SYES && sor2.aqd == SYES)
                {
                    //不按考试员指令驾驶
                    JUDGE_MARK_SUB3(20, "46", true);
                }
            }
            //开门前不关闭方向灯是否扣分
            int s505_11 = s505.size() > 11 && s505[11] != "" ? std::atoi(s505[11].c_str()) : 0;
            if(s505_11 == 1)
            {
                if(sor.yfxd == SYES && sor1.yfxd == SYES)
                {
                    JUDGE_MARK_SUB3(20, "71", false);
                }
            }
            if(ksdd == siteof::zjnb)
            {
                if(sor.aqd == SYES && sor1.aqd == SYES && sor2.aqd == SYES)
                {
                    //不按考试员指令驾驶
                    JUDGE_MARK_SUB3(11, "45", true);
                }
            }
            if(ksdd == siteof::nmgcfkm3 || ksdd == siteof::nmgtlkm3 || ksdd == siteof::hnzzkm3)
            {
                if(sor.dw > 0 && sor1.dw > 0 && sor2.dw > 0 &&
                   sor.dw < 10 && sor1.dw < 10 && sor2.dw < 10)
                {
                    //不按考试员指令驾驶
                    JUDGE_MARK_SUB3(11, "45", true);
                }
            }
            //ToDo:头部姿态
            m_itemv.Status = 5;
            m_itemv.Enter_Tk = cg->tkCnt;
        }
        //20171212 唐山要求开车门 评判距离
        if(ksdd == siteof::hbtskm3 || ksdd == siteof::lyggy)
        {
            if(m_car->rtkEnabled())
            {
                Judge_KBTC_YaXian();
                Judge_KBTC_YaXian_Tail(); //A2C6-20250314
            }
        } // 20171211
    }
    else //20170215
    {
        if(ksdd == siteof::SXHZ)
        {
            //靠边停车后，3分钟内每隔30秒提示考试完成请下车考试语音，3分钟后仍然不下车的，以不按考试员指令驾驶评判为不合格。
            //20170508
            if(std::abs(cg->tkCnt - m_itemv.TingCheJiShi) <= m_itemv.Parm_HanZhong_KBTC_SJ)  //3 * 60 * 1000 then
            {
                if(m_itemv.jscnt < m_itemv.Parm_HanZhong_KBTC_SJ)
                {
                    if((std::abs(cg->tkCnt - m_itemv.TingCheJiShi) / 30*SECOND) >= m_itemv.jscnt)
                    {
                        m_itemv.jscnt++; //inc(m_itemv.jscnt);
                        //ToDo:语音提示-->下车时请注意左后方来车
                        m_car->createEventSound({itemNo(), sound::sub3_406004});
                    }
                }
            }
            else
            {
                JUDGE_MARK_SUB3(11, "45", true);
                m_exam->TestPro = ItemProFlagEnd;
                return;
            }
        }
        if(ksdd == siteof::HLJDQ || ksdd == siteof::hebeihskm3)  //20170616
        {
            //靠边停车后，3分钟内每隔30秒提示考试完成请下车考试语音，3分钟后仍然不下车的，以不按考试员指令驾驶评判为不合格。
            if(std::abs(cg->tkCnt - m_itemv.TingCheJiShi) > m_itemv.Parm_HanZhong_KBTC_SJ) //3 * 60 * 1000 then
            {
                JUDGE_MARK_SUB3(11, "45", true);
                m_exam->TestPro = ItemProFlagEnd;
                return;
            }
        }
    }
}

void Sub3Judge11Kbtc::DoStatus_5()
{
    const TChuanGan* cg = m_car->historyChuanGan();
    const TSensorInfo& sor = cg->real.sensor;
    const TChuanGan* his1 = m_car->historyChuanGan(1);
    const TSensorInfo& sor1 = his1->real.sensor;
    const std::string& ksdd = TableSysSet->get211();

    const TSensorInfo& sor2 = m_car->historySensor(2);
    const TSensorInfo& sor3 = m_car->historySensor(3);

    //如果关门进入下一阶段
    if(sor.mkg == SNOT && sor1.mkg == SNOT && sor2.mkg == SNOT && sor3.mkg == SYES)
    {
        if(ksdd.substr(0,7) == siteof::guizhou)
        {
            if(sor.fsc == SYES && sor1.fsc == SYES && sor2.fsc == SYES)
            {
                //不按考试员指令行驶
                JUDGE_MARK_SUB3(20, "50", false);
            }
        }
        m_itemv.Status = 6;
        //考试结束计时
        m_itemv.KaoShiJieShu_JS = cg->tkCnt;
        return;
    }

    //如果到时间15S进入下一阶段
    if(cg->tkCnt - m_itemv.Enter_Tk > m_itemv.parm_KaiMen_Status6 * SECOND)
    {
        m_itemv.Status = 6;
        m_itemv.KaoShiJieShu_JS = cg->tkCnt;
        return;
    }
}

void Sub3Judge11Kbtc::DoStatus_6()
{
    const TChuanGan* cg = m_car->historyChuanGan();
    const TSensorInfo& sor = cg->real.sensor;
    const TChuanGan* his1 = m_car->historyChuanGan(1);
    const TSensorInfo& sor1 = his1->real.sensor;

    const std::string& ksdd = TableSysSet->get211();

    const TSensorInfo& sor2 = m_car->historySensor(2);
    const TSensorInfo& sor3 = m_car->historySensor(3);

    //SysSet[505]-->13
    //下车熄火判断时机：0-开门；1-关门
    const std::vector<std::string>& s505 = TableSysSet->asArray505();
    int s505_12 = s505.size() > 12 && s505[12] != "" ? std::atoi(s505[12].c_str()) : 0;
    if(s505_12 == 1)
    {
        int c = 0;
        if(ksdd == siteof::sxbjxc || ksdd ==siteof::sxbjdc)
        {
            if(sor.fdjzs > 600)
            {
                c = 1;
            }
        }
        else
        {
            if(sor.fdjzs > 200)
            {
                c = 1;
            }
        }
        if(c == 1 && sor.fdjzs < 8000)
        {
            //下车前不将发动机熄火
            JUDGE_MARK_SUB3(11, "08", true);
        }
    }
    //20190408
    if(sor.mkg == SYES && sor1.mkg == SYES && sor2.mkg == SYES && sor3.mkg == SYES && (!IS_C5(m_carType) || ksdd == siteof::shanghaikm3))
    {
        //下车后不关闭车门
        JUDGE_MARK_SUB3(11, "07", true); //20160928
    }

    TKM3Item* item = m_car->findExamItem(Sub3ItemType13Yjxs); //夜间行驶
    bool FindFlag = (item && item->Item_Color == itemStateZk);
    if(FindFlag == true)  //夜间驾驶
    {
        if(ksdd == siteof::hbxy)  //20160122
        {
            if(sor.ygd == SYES || sor.jgd == SYES || sor.skd == SNOT || sor.shtd == SNOT)
            {
                JUDGE_MARK_SUB3(11, "09", false); //夜间在路边临时停车不关闭前照灯或不开启式廓灯
            }
        }
        else
        {
            if(sor.ygd == SYES || sor.jgd == SYES || sor.skd == SNOT)
            {
                if(ksdd == siteof::GXWZKM3)
                {
                    //在路边临时停车不关闭前照灯或不开启示廓灯
                    JUDGE_MARK_SUB3(11, "09", false);
                }
                else
                {
                    //在路边临时停车不关闭前照灯或不开启示廓灯
                    JUDGE_MARK_SUB3(11, "09", false);
                }
            }
        }
    }

    //特殊地点版本处理
    if(ksdd == siteof::GXWZKM3)
    {
        if(cg->tkCnt - m_itemv.KaoShiJieShu_JS > 25 * SECOND)
        {
            //结束项目处理
            m_itemv.Status = 100;
        }
    }
    else if(ksdd == siteof::gxbhkm3)
    {
        if(cg->tkCnt - m_itemv.KaoShiJieShu_JS > 15 * SECOND)
        {
            m_itemv.Status = 100;
        }
    }
    else
    {
        m_itemv.Status = 100;
    }
    m_car->setPubKaoBianTCFinish_LJJL(cg->ai_ljjl);

}

void Sub3Judge11Kbtc::DoStatus_100()
{
    m_exam->TestPro = ItemProFlagEnd;
    const std::string& ksdd = TableSysSet->get211();
    if(ksdd == siteof::changzhoukm3) //20170315
    {
        //结束直行路口
        m_car->KM3EndItem(Sub3ItemType05Lkzx);
        //结束左转弯
        m_car->KM3EndItem(Sub3ItemType15Lkzz);
        //结束右转弯
        m_car->KM3EndItem(Sub3ItemType16Lkyz);
    }

    //检查是否有未做的项目,除了靠边停车是否都已经完成
    bool FindFlag = m_car->itemsNotFinishExcept(Sub3ItemType11Kbtc);
    if(FindFlag == true)
    {
        //ToDo: 语音提示-->请起步，继续完成考试
        m_car->createEventSound({itemNo(), sound::sub3_406005});
    }
}

void Sub3Judge11Kbtc::Judge_KBTC_YaXian()
{
    //3帧车身右上离右侧边线距离
    int RightJL0_RF = 0;
    int RightJL1_RF = 0;
    int RightJL2_RF = 0;
    //3帧车身右下离右侧边线距离
    int RightJL0_RB = 0;
    int RightJL1_RB = 0;
    int RightJL2_RB = 0;
    //3帧车身右中心点离右侧边线距离
    //ZXD_JL0: Integer;
    //ZXD_JL1: Integer;
    //ZXD_JL2: Integer;

    const TRTKResult& RTKKM3_0 = m_car->historyRtkKM3(0);
    const TRTKResult& RTKKM3_1 = m_car->historyRtkKM3(1);
    const TRTKResult& RTKKM3_2 = m_car->historyRtkKM3(2);

    //车身右侧距离计算
    //靠边停车以右前轮、右后轮判靠边距离（0-否 1-是）
    const std::string& s411 = TableSysSet->get411();
    if(s411 != "1")
    {
        RightJL0_RF = RTKKM3_0.Body_RF_ToBaseLine;
        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;
    }
    else
    {
        RightJL0_RF = RTKKM3_0.Wheel_RF_ToBaseLine;
        RightJL1_RF = RTKKM3_1.Wheel_RF_ToBaseLine;
        RightJL2_RF = RTKKM3_2.Wheel_RF_ToBaseLine;

        RightJL0_RB = RTKKM3_0.Wheel_RB_ToBaseLine;
        RightJL1_RB = RTKKM3_1.Wheel_RB_ToBaseLine;
        RightJL2_RB = RTKKM3_2.Wheel_RB_ToBaseLine;
    }

    //ZXD_JL0 := (RightJL0_RF + RightJL0_RB) div 2;
    //ZXD_JL1 := (RightJL1_RF + RightJL1_RB) div 2;
    //ZXD_JL2 := (RightJL2_RF + RightJL2_RB) div 2;

    int Max_JL0 = std::max(RightJL0_RF, RightJL0_RB);
    int Max_JL1 = std::max(RightJL1_RF, RightJL1_RB);
    int Max_JL2 = std::max(RightJL2_RF, RightJL2_RB);

    if(m_car->rtkEnabled() == false) return;

    bool FindFlag = false;
    if(RTKKM3_0.TouchLineType == LineType_3 &&
            RTKKM3_1.TouchLineType == LineType_3 &&
            RTKKM3_2.TouchLineType == LineType_3)
    {
        FindFlag = true;
    }
    if(RTKKM3_0.TouchLineTypeCS == LineType_3 &&
            RTKKM3_1.TouchLineTypeCS == LineType_3 &&
            RTKKM3_2.TouchLineTypeCS == LineType_3)
    {
        FindFlag = true;
    }

    //车身出线
    bool CheShenChuXian = false;
    // 20150415  出线，边缘线为负值
    if(FindFlag == true)
    {
        int JL0 = std::min(RTKKM3_0.Body_RF_ToBaseLine, RTKKM3_0.Body_RB_ToBaseLine);
        int JL1 = std::min(RTKKM3_1.Body_RF_ToBaseLine, RTKKM3_1.Body_RB_ToBaseLine);
        int JL2 = std::min(RTKKM3_2.Body_RF_ToBaseLine, RTKKM3_2.Body_RB_ToBaseLine);

        int s481 = TableSysSet->asInt481();
        if(JL0 + s481 < 0 && JL1 + s481 < 0 && JL2 + s481 < 0 && !m_itemv.Kf03)
        {
            CheShenChuXian = true;
        }
    }

    if(CheShenChuXian == true)
    {
        m_itemv.Kf03 = true; //20160928
        //停车后，车身超过道路右侧边缘线或者人行道边缘
        JUDGE_MARK_SUB3(11, "03", false);
    }
    else
    {
        const TGpsInfo& gps = m_car->historyGps();
        //靠边停车以右前、后轮判靠边距离（0-否 1-是）
        int RtkOffset = m_car->getTCar()->RtkOffset;
        int offset = RtkOffset + std::round(gps.jdyz*100) + std::round(gps.wdyz*100);
        Max_JL0 -= offset;
        Max_JL1 -= offset;
        Max_JL2 -= offset;

        //20170724
        int kbtcwc = 50 + m_itemv.kbtcwc;
        if(Max_JL0 > kbtcwc && Max_JL1 > kbtcwc && Max_JL2 > kbtcwc)
        {
            if(m_itemv.dcykkb == 0) //大车夜考相关的参数
            {
                //停车后，车身距离道路右侧边缘线或者人行道边缘超出50cm
                JUDGE_MARK_SUB3(11, "04", true); //20170724 新增
            }
        }
        else
        {
            if(Max_JL0 > 30 + m_itemv.kbtcwc && Max_JL1 > 30 + m_itemv.kbtcwc && Max_JL2 > 30 + m_itemv.kbtcwc)
            {
                if(!m_itemv.Kf10)
                {
                    m_itemv.Kf10 = true; //20160928
                    if(m_itemv.dcykkb == 0) //20181015
                    {
                        //靠边30相关的
                        JUDGE_MARK_SUB3(11, "10", true);
                    }
                }
            }
        }

        //特殊规则，直接翻译代码即可
        if(s411 != "1")
        {
            std::string txt2 = m_exam->Txt2;
            if(Tools::pos(",", txt2))
            {
                bool ok = Tools::pos("," + RTKKM3_0.MapRoad_Code_No + ",",  "," + txt2 + ",");
                if(RTKKM3_0.MapRoad_Code_No == "" || (RTKKM3_0.MapRoad_Code_No != "" && ok == false))
                {
                    if(m_itemv.dcykkb == 0)  //20181015
                    {
                        JUDGE_MARK_SUB3(11, "04", true);
                    }
                }
            }
        }
    }
}

void Sub3Judge11Kbtc::Judge_KBTC_YaXian_Tail()
{
    if(!IS_A2C6(m_carType))
    {
        return;
    }

    //3帧车身右上离右侧边线距离
    int RightJL0_RF = 0;
    int RightJL1_RF = 0;
    int RightJL2_RF = 0;
    //3帧车身右下离右侧边线距离
    int RightJL0_RB = 0;
    int RightJL1_RB = 0;
    int RightJL2_RB = 0;
    //3帧车身右中心点离右侧边线距离
    //ZXD_JL0: Integer;
    //ZXD_JL1: Integer;
    //ZXD_JL2: Integer;

    const TRTKResult& RTKKM3_Tail_0 = m_car->historyRtkKM3_Tail(0);
    const TRTKResult& RTKKM3_Tail_1 = m_car->historyRtkKM3_Tail(1);
    const TRTKResult& RTKKM3_Tail_2 = m_car->historyRtkKM3_Tail(2);

    //车身右侧距离计算
    //靠边停车以右前轮、右后轮判靠边距离（0-否 1-是）
    const std::string& s411 = TableSysSet->get411();
    if(s411 != "1")
    {
        RightJL0_RF = RTKKM3_Tail_0.Body_RF_ToBaseLine;
        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;
        RightJL1_RF = RTKKM3_Tail_1.Wheel_RF_ToBaseLine;
        RightJL2_RF = RTKKM3_Tail_2.Wheel_RF_ToBaseLine;

        RightJL0_RB = RTKKM3_Tail_0.Wheel_RB_ToBaseLine;
        RightJL1_RB = RTKKM3_Tail_1.Wheel_RB_ToBaseLine;
        RightJL2_RB = RTKKM3_Tail_2.Wheel_RB_ToBaseLine;
    }

    //ZXD_JL0 := (RightJL0_RF + RightJL0_RB) div 2;
    //ZXD_JL1 := (RightJL1_RF + RightJL1_RB) div 2;
    //ZXD_JL2 := (RightJL2_RF + RightJL2_RB) div 2;

    int Max_JL0 = std::max(RightJL0_RF, RightJL0_RB);
    int Max_JL1 = std::max(RightJL1_RF, RightJL1_RB);
    int Max_JL2 = std::max(RightJL2_RF, RightJL2_RB);

    if(m_car->rtkEnabled2() == false) return;

    bool FindFlag = false;
    if(RTKKM3_Tail_0.TouchLineType == LineType_3 &&
            RTKKM3_Tail_1.TouchLineType == LineType_3 &&
            RTKKM3_Tail_2.TouchLineType == LineType_3)
    {
        FindFlag = true;
    }
    if(RTKKM3_Tail_0.TouchLineTypeCS == LineType_3 &&
            RTKKM3_Tail_1.TouchLineTypeCS == LineType_3 &&
            RTKKM3_Tail_2.TouchLineTypeCS == LineType_3)
    {
        FindFlag = true;
    }

    //车身出线
    bool CheShenChuXian = false;
    // 20150415  出线，边缘线为负值
    if(FindFlag == true)
    {
        int JL0 = std::min(RTKKM3_Tail_0.Body_RF_ToBaseLine, RTKKM3_Tail_0.Body_RB_ToBaseLine);
        int JL1 = std::min(RTKKM3_Tail_1.Body_RF_ToBaseLine, RTKKM3_Tail_1.Body_RB_ToBaseLine);
        int JL2 = std::min(RTKKM3_Tail_2.Body_RF_ToBaseLine, RTKKM3_Tail_2.Body_RB_ToBaseLine);

        int s481 = TableSysSet->asInt481();
        if(JL0 + s481 < 0 && JL1 + s481 < 0 && JL2 + s481 < 0 && !m_itemv.Kf03)
        {
            CheShenChuXian = true;
        }
    }

    if(CheShenChuXian == true)
    {
        m_itemv.Kf03 = true; //20160928
        //停车后，车身超过道路右侧边缘线或者人行道边缘
        JUDGE_MARK_SUB3(11, "03", false);
    }
    else
    {
        const TGpsInfo& gps2 = m_car->historyGps2();
        //靠边停车以右前、后轮判靠边距离（0-否 1-是）
        int RtkOffset = m_car->getTCar()->RtkOffset;
        int offset = RtkOffset + std::round(gps2.jdyz*100) + std::round(gps2.wdyz*100);
        Max_JL0 -= offset;
        Max_JL1 -= offset;
        Max_JL2 -= offset;

        //20170724
        int kbtcwc = 50 + m_itemv.kbtcwc;
        if(Max_JL0 > kbtcwc && Max_JL1 > kbtcwc && Max_JL2 > kbtcwc)
        {
            if(m_itemv.dcykkb == 0) //大车夜考相关的参数
            {
                //停车后，车身距离道路右侧边缘线或者人行道边缘超出50cm
                JUDGE_MARK_SUB3(11, "04", true); //20170724 新增
            }
        }
        else
        {
            if(Max_JL0 > 30 + m_itemv.kbtcwc && Max_JL1 > 30 + m_itemv.kbtcwc && Max_JL2 > 30 + m_itemv.kbtcwc)
            {
                if(!m_itemv.Kf10)
                {
                    m_itemv.Kf10 = true; //20160928
                    if(m_itemv.dcykkb == 0) //20181015
                    {
                        //靠边30相关的
                        JUDGE_MARK_SUB3(11, "10", true);
                    }
                }
            }
        }

        //特殊规则，直接翻译代码即可
        if(s411 != "1")
        {
            std::string txt2 = m_exam->Txt2;
            if(Tools::pos(",", txt2))
            {
                bool ok = Tools::pos("," + RTKKM3_Tail_0.MapRoad_Code_No + ",",  "," + txt2 + ",");
                if(RTKKM3_Tail_0.MapRoad_Code_No == "" || (RTKKM3_Tail_0.MapRoad_Code_No != "" && ok == false))
                {
                    if(m_itemv.dcykkb == 0)  //20181015
                    {
                        JUDGE_MARK_SUB3(11, "04", true);
                    }
                }
            }
        }
    }
}

void Sub3Judge11Kbtc::NS3JudgeVision_40601()
{
    //靠边停车项目中，停车前10s内头部姿态没有大于右后侧角度【25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.rightBack)
    {
        m_itemv.stopPose = nowTime;
    }

    const TChuanGan* cg = m_car->historyChuanGan();
    const TChuanGan* his1 = m_car->historyChuanGan(1);
    const TChuanGan* his2 = m_car->historyChuanGan(2);
    if(cg->move == moveStop && his1->move == moveStop && his2->move == moveForward)
    {
        if(nowTime - m_itemv.stopPose > 10*SECOND)
        {
            m_itemv.stopPose = nowTime;
            JUDGE_MARK_NSUB3(11, "01", false);
            //NS3video
        }
    }
}

void Sub3Judge11Kbtc::NS3JudgeVision_40604()
{
    //靠边停车项目中，打开车门前10s内头部姿态没有大于左后侧角度【25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.leftBack)
    {
        m_itemv.doorPose = nowTime;
    }

    const TSensorInfo& sor = m_car->historySensor();
    const TSensorInfo& sor1 = m_car->historySensor(1);
    const TSensorInfo& sor2 = m_car->historySensor(2);
    if(sor.mkg == SYES && sor1.mkg == SYES && sor2.mkg == SNOT)
    {
        if(nowTime - m_itemv.doorPose > 10*SECOND)
        {
            m_itemv.doorPose = nowTime;
            JUDGE_MARK_NSUB3(11, "02", false);
            //NS3video
        }
    }
}