460 lines
17 KiB
C++
460 lines
17 KiB
C++
#include "Sub3Judge12Ptdt.h"
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#include "HFactory.h"
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Sub3Judge12Ptdt::Sub3Judge12Ptdt(TKM3Item* exam)
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{
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m_exam = exam;
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}
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Sub3Judge12Ptdt::~Sub3Judge12Ptdt()
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{
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m_exam = nullptr;
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}
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bool Sub3Judge12Ptdt::dealJudgeEnter()
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{
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if(m_exam->TestPro != ItemProFlagInit) return false;
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// if(!m_car->rtkEnabled() || !m_car->rtkEnabled(1)) return false;
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const TChuanGan* cg = m_car->historyChuanGan();
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const TGpsInfo& gps = cg->real.gps;
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m_itemv = TSub3Item12Ptdt();
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const std::vector<std::string>& s510 = TableSysSet->asArray510();
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//得到掉头项目必须的项目距离（如果到达了这个项目距离，没有完成掉头，判：不按规定考试)
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m_itemv.XMJL_Mi = s510.size() > 0 && s510[0] != "" ? std::atoi(s510[0].c_str()) : 350; //完成项目的规定距离
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//角度变动到多大算掉头完成(达到这个角度后，并且不压任何线，就算掉头完成)
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m_itemv.FinishDiaoTou_JiaoDu_Change = s510.size() > 1 && s510[1] != "" ? std::atoi(s510[1].c_str()) : 120;
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//速度阈值(必须小于设定值，认为速度合法)
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m_itemv.Temp_XS = s510.size() > 2 && s510[2] != "" ? std::atoi(s510[2].c_str()) : 35; //20170824
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//初始行驶距离（用于计算项目距离)
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m_itemv.CSJL_Mi = cg->ai_ljjl;
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//得到最多倒车次数
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m_itemv.Max_DC_CiShu = s510.size() > 5 && s510[5] != "" ? std::atoi(s510[5].c_str()) : 0;
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//初始GPS角度
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m_itemv.CS_GPS_D = gps.hxj;
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m_itemv.mapping = m_car->graphic()->mapping();
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m_itemv.line = coordTransform(cg);
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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 Sub3Judge12Ptdt::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(!judgeAllowable()) return;
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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 TChuanGan* his2 = m_car->historyChuanGan(2);
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const TChuanGan* his3 = m_car->historyChuanGan(3);
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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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return;
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}
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}
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Update_DiaoTou_JianSuRec(m_itemv.slowDown); //, m_itemv.Temp_XS
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//多次后退
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if(m_itemv.Max_DC_CiShu > 0)
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{
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if(cg->move == moveBackward && his1->move == moveBackward && his2->move != moveBackward && his3->move != moveBackward)
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{
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m_itemv.Max_DC_CiShu = m_itemv.Max_DC_CiShu - 1;
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if(m_itemv.Max_DC_CiShu == 0)
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{
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//不按考试员指令驾驶
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JUDGE_MARK_SUB3(12, "03", false);
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}
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}
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}
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//车辆行驶中骑轧车道中心实线或者车道边缘实线
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if(ksdd == siteof::xjcj)
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{
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const TRTKResult& RTKKM3_1 = his1->RTKKM3;
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const TRTKResult& RTKKM3_2 = his2->RTKKM3;
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const TRTKResult& RTKKM3_3 = his3->RTKKM3;
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//InShapeAttr: Integer; //0-不在形状里 1-在人行道内 2-在网格线内
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if(RTKKM3.InShapeAttr == InShapeAttr_2 && RTKKM3_1.InShapeAttr == InShapeAttr_2 &&
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RTKKM3_2.InShapeAttr == InShapeAttr_0 && RTKKM3_3.InShapeAttr == InShapeAttr_0)
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{
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//车辆行驶中骑轧车道中心实线或者车道边缘实线
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JUDGE_MARK_SUB3(20, "57", false);
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}
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}
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//不按规定速度行驶
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if(gps.sd > 20 && his1->real.gps.sd > 20 && ksdd == siteof::lfgakm3)
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{
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//不按规定速度行驶
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JUDGE_MARK_SUB3(20, "58", true);
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}
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if(ksdd == siteof::linxiahz || ksdd == siteof::guizhou)
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{
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const TRTKResult& RTKKM3_1 = his1->RTKKM3;
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const TRTKResult& RTKKM3_2 = his2->RTKKM3;
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const TRTKResult& RTKKM3_3 = his3->RTKKM3;
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//记录一下第一次变道时刻的项目距离（向右边变道的)
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if(RTKKM3.BaseLaneCount > 0 &&
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RTKKM3_2.BasePointInLaneNo == RTKKM3_3.BasePointInLaneNo &&
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RTKKM3_2.BasePointInLaneNo < RTKKM3_1.BasePointInLaneNo &&
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RTKKM3_1.BasePointInLaneNo == RTKKM3.BasePointInLaneNo)
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{
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m_itemv.BianDaoJL = cg->ai_ljjl;
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}
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//路段状况:车轮是否压线以及压线类型: 0-无 1-中心实线 2-车道分界线(虚线） 3-路右边线 4-路左边线 5-非机动车道分界线
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//6:中心线虚线 7:道路分界线（实线） 8:道路边缘线（右黄）
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if(RTKKM3.TouchLineType == LineType_6 &&
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RTKKM3_1.TouchLineType == LineType_6 &&
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RTKKM3_2.TouchLineType != LineType_6 &&
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RTKKM3_3.TouchLineType != LineType_6)
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{
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//如果再次压中心虚线，是不是可以说：你准备再次变道了
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if(cg->ai_ljjl - m_itemv.BianDaoJL < 20)
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{
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if(ksdd == siteof::guizhou)
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{
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//连续变更两条或两条以上车道
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if(!m_itemv.MarkFlag_12_45)
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{
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m_itemv.MarkFlag_12_45 = true;
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JUDGE_MARK_SUB3(20, "89", false);
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}
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}
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else
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{
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//不按交通信号灯、标志、标线或者民警指挥信号行驶
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if(!m_itemv.MarkFlag_12_45)
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{
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m_itemv.MarkFlag_12_45 = true;
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JUDGE_MARK_SUB3(12, "45", false);
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}
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}
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}
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}
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}
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if(m_exam->bYdt == true) //20150516 表示右掉头
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{
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if(m_itemv.b_FXD == false)
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{
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if(sor.yfxd == SYES && sor.zfxd == SNOT)
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{
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m_itemv.b_FXD = true;
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}
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}
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if(m_itemv.b_FXD == true)
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{
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bool FindFlag = true;
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if(sor.yfxd == SNOT && sor.zfxd == SYES)
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{
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FindFlag = false;
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}
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for(int i = 1; i <= 14; i++)
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{
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const TSensorInfo& sori = m_car->historySensor(i);
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if(sori.zfxd == SYES)
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{
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FindFlag = false;
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break;
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}
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if(sori.yfxd != SYES)
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{
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FindFlag = false;
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break;
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}
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}
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if(FindFlag == true)
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{
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m_itemv.FXD_TM_OK_Flag = true;
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}
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}
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}
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else
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{
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if(m_itemv.b_FXD == false)
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{
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if(sor.zfxd == SYES && sor.yfxd == SNOT)
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{
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m_itemv.b_FXD = true;
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}
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}
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if(m_itemv.b_FXD == true)
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{
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bool FindFlag = true;
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if(sor.zfxd == SNOT && sor.yfxd == SYES)
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{
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FindFlag = false;
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}
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for(int i = 1; i <= 14; i++)
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{
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const TSensorInfo& sori = m_car->historySensor(i);
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if(sori.yfxd == SYES)
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{
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FindFlag = false;
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break;
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}
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if(sori.zfxd != SYES)
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{
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FindFlag = false;
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break;
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}
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}
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if(FindFlag == true)
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{
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m_itemv.FXD_TM_OK_Flag = true;
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}
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}
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}
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const TChuanGan* his5 = m_car->historyChuanGan(5);
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//掉头角度变化 老的角度变化计算方式（windows就是这么做的）
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//const TGpsInfo& gps5 = his5->real.gps;
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//double a = std::abs(gps.hxj - m_itemv.CS_GPS_D);
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//double b = std::abs(gps5.hxj- m_itemv.CS_GPS_D);
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//***新的角度变化计算方式（这个应该更精准）注意：左上角是(0,0)点 yhy 20240823
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Linei line0 = coordTransform(cg);
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Linei line5 = coordTransform(his5);
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double a = std::abs(GpsMath::calcAngle(line0.p2, m_itemv.line.p2, m_itemv.line.p1));
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double b = std::abs(GpsMath::calcAngle(line5.p2, m_itemv.line.p2, m_itemv.line.p1));
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//IGraphicAbstract* graphic = m_car->graphic();
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//graphic->drawPoint({10,10},RGB_RED,10);
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//graphic->drawLine(m_itemv.line,RGB_RED);
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//graphic->drawLine(line0,RGB_GREEN);
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//graphic->drawLine(line5,RGB_PURPLE);
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//FactoryExamService->examJudgeCallbackMapImageToCaller(graphic->image(), graphic->size());
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//logdebug("CS_GPS_D=%0.2f,hxj=%0.2f,hxj5=%0.2f, a=%0.2f,b=%0.2f a_=%0.2f,b_=%0.2f",
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// m_itemv.CS_GPS_D, gps.hxj, gps5.hxj, a, b, a_, b_);
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//528:掉头N米内不判连续变道和方向灯
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if(m_car->getNJ_DiaoTou_JL() == 0 && TableSysSet->asInt528() > 0)
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{
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if(a > 90 && a < 270 && b > 90 && b < 270)
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{
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m_car->setNJ_DiaoTou_JL(cg->ai_ljjl);
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}
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}
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const std::vector<std::string>& s510 = TableSysSet->asArray510(); //StrToIntDef(getdotstr(8, sysset[510], ','), 1) = 1
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int si = s510.size() > 7 && s510[7] != "" ? std::atoi(s510[7].c_str()) : 1;
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//贵州地区需求
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if(Tools::pos(siteof::guizhou, ksdd) == true || si == 1)
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{
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// //路段状况:车轮是否压线以及压线类型: 0-无 1-中心实线 2-车道分界线(虚线） 3-路右边线 4-路左边线 5-非机动车道分界线
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//6:中心线虚线 7:道路分界线（实线） 8:道路边缘线（右黄）
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if(RTKKM3.TouchLineType == LineType_6 &&
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his1->RTKKM3.TouchLineType == LineType_6 &&
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his2->RTKKM3.TouchLineType == LineType_0)
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{
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if(!m_itemv.Judge_DengGuang_Flag)
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{
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m_itemv.Judge_DengGuang_Flag = true;
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if(!m_itemv.b_FXD)
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{
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if(!m_itemv.MarkFlag_12_42)
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{
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//掉头前未开启左转向灯
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JUDGE_MARK_SUB3(12, "42", false); //20160928
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m_itemv.MarkFlag_12_42 = true;
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}
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//ToDo：头部姿态
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}
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if(ksdd == siteof::gdjykm3 || ksdd == siteof::gsgnzkm3 || ksdd == siteof::chongqingkm3 || ksdd == siteof::ynzt ||
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ksdd == siteof::guizhou || ksdd == siteof::guizhouas || ksdd == siteof::shandongyt || ksdd == siteof::gxlzkm3)
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{
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//:对可能出现危险的情形未采取减速、鸣喇叭等安全措施
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//if not Itmv12.Js_Passed then
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if (m_itemv.slowDown.Js_Passed == false)
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{
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if(!m_itemv.MarkFlag_12_46)
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{
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//对可能出现危险的情形未采取减速、鸣喇叭等安全措施
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JUDGE_MARK_SUB3(12, "46", false); //20170505
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m_itemv.MarkFlag_12_46 = true;
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}
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}
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}
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}
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}
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}
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if(ksdd == siteof::dehongkm3)
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{
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if(cg->ai_ljjl - m_itemv.CSJL_Mi > m_itemv.XMJL_Mi)
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{
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if(!m_itemv.b_FXD)
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{
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if(!m_itemv.MarkFlag_12_42)
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{
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//掉头前未开启左转向灯
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JUDGE_MARK_SUB3(12, "42", false); //20160928
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m_itemv.MarkFlag_12_42 = true;
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}
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}
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if(!m_itemv.b_JSC)
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{
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if(!m_itemv.MarkFlag_12_46)
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{
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//对可能出现危险的情形未采取减速、鸣喇叭等安全措施
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JUDGE_MARK_SUB3(12, "46", false); //20170505
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m_itemv.MarkFlag_12_46 = true;
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}
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}
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m_exam->TestPro = ItemProFlagEnd;
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}
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}
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else
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{
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if(a > 50 && a < 210 && b > 50 && b < 210)
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{
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if(!m_itemv.Judge_DengGuang_Flag)
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{
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m_itemv.Judge_DengGuang_Flag = true;
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//ToDo:头部姿态
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if(ksdd == siteof::gdjykm3 || ksdd == siteof::gsgnzkm3 || ksdd == siteof::chongqingkm3 || ksdd == siteof::ynzt ||
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ksdd == siteof::guizhou || ksdd == siteof::guizhouas || ksdd == siteof::shandongyt || ksdd == siteof::gxlzkm3 )
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{
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if(!m_itemv.slowDown.Js_Passed)
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{
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if(!m_itemv.MarkFlag_12_46)
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{
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//对可能出现危险的情形未采取减速、鸣喇叭等安全措施
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JUDGE_MARK_SUB3(12, "46", false); //20170505
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m_itemv.MarkFlag_12_46 = true;
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}
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}
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}
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//如果是右掉头
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//制动气压不足起步(20,73) 为什么这么扣？按规则翻译即可
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if(m_exam->bYdt == true) //右掉头
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{
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if(!m_itemv.b_FXD)
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{
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if(!m_itemv.MarkFlag_20_73)
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{
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JUDGE_MARK_SUB3(20, "73", false); //20170505
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m_itemv.MarkFlag_20_73 = true;
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}
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}
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if(Tools::pos(siteof::guizhou, ksdd) == true && !m_itemv.FXD_TM_OK_Flag)
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{
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//违反交通安全法律、法规，影响交通安全
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if(!m_itemv.MarkFlag_20_20)
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{
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JUDGE_MARK_SUB3(20, "20", true);
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m_itemv.MarkFlag_20_20 = true;
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}
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}
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}
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else
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{
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if(!m_itemv.b_FXD)
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{
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if(!m_itemv.MarkFlag_12_42)
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{
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//起步、转向、变更车道、超车、靠边停车前不使用或错误使用转向灯
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JUDGE_MARK_SUB3(12, "42", false); //20160928
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m_itemv.MarkFlag_12_42 = true;
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}
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}
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else
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{
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if(ksdd == siteof::hebeihskm3)
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{
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//起步、转向、变更车道、超车、靠边停车前，开转向灯少于3s即转向
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if(!m_itemv.FXD_TM_OK_Flag) //20141107
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{
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if(!m_itemv.MarkFlag_12_43)
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{
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JUDGE_MARK_SUB3(12, "43", false);
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m_itemv.MarkFlag_12_43 = true;
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}
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}
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}
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}
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//20171109 贵州个性需求
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if(Tools::pos(siteof::guizhou, ksdd) == true && !m_itemv.FXD_TM_OK_Flag)
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{
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if(!m_itemv.MarkFlag_20_20)
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{
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JUDGE_MARK_SUB3(20, "20", false); //20160928
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m_itemv.MarkFlag_20_20 = true;
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}
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}
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}
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}
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}
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}
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if(a > m_itemv.FinishDiaoTou_JiaoDu_Change && a < 210 && b > m_itemv.FinishDiaoTou_JiaoDu_Change && b < 210)
|
||
{
|
||
//路段状况:车轮是否压线以及压线类型: 0-无 1-中心实线 2-车道分界线(虚线） 3-路右边线 4-路左边线 5-非机动车道分界线
|
||
//6:中心线虚线 7:道路分界线（实线） 8:道路边缘线（右黄）
|
||
if(RTKKM3.TouchLineType == LineType_0)
|
||
{
|
||
m_exam->TestPro = ItemProFlagEnd;
|
||
}
|
||
}
|
||
|
||
if(cg->ai_ljjl - m_itemv.CSJL_Mi > m_itemv.XMJL_Mi)
|
||
{
|
||
JUDGE_MARK_SUB3(12, "41", false); //20160928
|
||
m_exam->TestPro = ItemProFlagEnd;
|
||
return;
|
||
}
|
||
|
||
|
||
#if JUDGE_USE_INSPECT //无锡所送检转向灯少于3s即转向
|
||
if(m_itemv.b_FXD)
|
||
{
|
||
if(m_exam->TestPro == ItemProFlagEnd)
|
||
{
|
||
//开转向灯少于3s即转向
|
||
if(!m_itemv.FXD_TM_OK_Flag) //20141107
|
||
{
|
||
if(!m_itemv.MarkFlag_12_43)
|
||
{
|
||
JUDGE_MARK_SUB3(12, "43", false);
|
||
m_itemv.MarkFlag_12_43 = true;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
#endif
|
||
|
||
char buf[128] = {0};
|
||
SafeSprintf(buf, sizeof(buf), JUDGE_UTF8S("结束距离=%d,当前距离=%d;角度阈值=%d,当前角度变化=%0.2f,a=%0.2f,b=%0.2f"),
|
||
m_itemv.XMJL_Mi, cg->ai_ljjl-m_itemv.CSJL_Mi, m_itemv.FinishDiaoTou_JiaoDu_Change, gps.hxj-m_itemv.CS_GPS_D,a,b);
|
||
std::string str = buf;
|
||
showStatus(JUDGE_UTF8S("[普通掉头]") + str);
|
||
}
|
||
|
||
Linei Sub3Judge12Ptdt::coordTransform(const TChuanGan* cg)
|
||
{
|
||
const TGPSPoint center = cg->real.gps.to();
|
||
Linei line = GpsMath::coordMapping(TGPSLine(cg->body.b1_a, cg->body.b2_a), center, m_itemv.mapping);
|
||
return line;
|
||
}
|