517 lines
18 KiB
C++
517 lines
18 KiB
C++
#include "Sub3Judge02Qbxx.h"
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#include "HFactory.h"
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Sub3Judge02Qbxx::Sub3Judge02Qbxx()
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{
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m_exam = __NEW__(TKM3Item);
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}
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Sub3Judge02Qbxx::~Sub3Judge02Qbxx()
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{
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__DELETE__(m_exam);
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}
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bool Sub3Judge02Qbxx::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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m_itemv = TSub3Item02Qbxx();
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//10s内未起步只评判第一次^第一次起步以打左方向灯开始计时^
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const std::vector<std::string>& s502 = TableSysSet->asArray502();
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std::string str = s502.size() > 7 ? s502[7] : "";
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const std::vector<std::string> ss = Tools::split(str, "^");
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m_itemv.sys502_8_1 = ss.size() > 0 && ss[0] != "" ? std::atoi(ss[0].c_str()) : 0;
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m_itemv.sys502_8_2 = ss.size() > 1 && ss[1] != "" ? std::atoi(ss[1].c_str()) : 0; //StrToIntDef(GetDotStr(2, tempstr + '^', '^'), 0);
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//下面是视觉相关的，先把参数值拿到，暂时不实现
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const std::vector<std::string>& s531 = TableSysSet->asArray531();
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if(s531.size() > 0 && s531[0] == "1")
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{
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m_itemv.is_radar = true;
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}
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m_itemv.Sys502_11 = s502.size() > 10 && s502[10] != "" ? std::atoi(s502[10].c_str()) : 0; //StrToIntDef(GetDotStr(11, SysSet[502], ','), 0);
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const std::vector<std::string>& s524 = TableSysSet->asArray524();
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m_itemv.Sys524_4 = s524.size() > 3 && s524[3] != "" ? std::atoi(s524[3].c_str()) : 0; //StrToIntDef(GetDotStr(4, SysSet[524], ','), 0);
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const TChuanGan* cg = m_car->historyChuanGan();
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m_itemv.Temp_JL_CM = cg->ai_ljjl_cm;
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if(m_car->disForward() > 10*100) //10米
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{
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//20240730 在济南修改 yhy
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//根据程军华口述修改过滤，在下面这种情况下：
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//如果在做模拟灯光的时候，还没起步之前差分丢了，车子开起来一段距离后差分又恢复了，当进入路口直行项目时，如果这个时候正好在路口等红灯停车了，会触发第一次起步
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//路口直行是不需要打灯的，而程序又第一次触发了起步项目，又要打左灯，考生怎么操作都会扣分，
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//所以这里过滤下，如果起步的时候前进的距离超过10米了就不算第一次起步了，就不判首次起步打左灯了
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m_Pub_First_QiBu_Flag = true;
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}
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m_itemv.State = 1; //车辆停车状态到前进距离小于1米的阶段
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m_exam->TestPro = ItemProFlagJudge;
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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 Sub3Judge02Qbxx::dealJudgeItem()
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{
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#if JUDGE_USE_INSPECT
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//return; //屏蔽起步
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#endif
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HELP_COST_TIME("");
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if(m_exam->TestPro != ItemProFlagJudge) return;
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if(!m_car->rtkEnabled() || !m_car->rtkEnabled(1)) return;
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const TChuanGan* cg = m_car->historyChuanGan();
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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 TSensorInfo& sor1 = his1->real.sensor;
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const TChuanGan* his2 = m_car->historyChuanGan(2);
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const TSensorInfo& sor2 = his2->real.sensor;
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const std::string& ksdd = TableSysSet->get211();
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if(m_itemv.State == 1) //起步相关的，起步距离小于1米
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{
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//评判起步闯动
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bool findFlag = true;
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if(ksdd == siteof::kunming && cg->tkCnt < 60*SECOND)
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{
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findFlag = false;
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}
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if(findFlag == true)
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{
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const TChuanGan* his3 = m_car->historyChuanGan(3);
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const TSensorInfo& sor3 = his3->real.sensor;
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const TChuanGan* his4 = m_car->historyChuanGan(4);
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const TSensorInfo& sor4 = his4->real.sensor;
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TCar* tcar = m_car->getTCar();
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int fdjds = tcar->FDJDS * tcar->fdjds_cdbl;
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//保持和windows一模一样 原先还叠加了fdjzs>10和前进状态条件
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if( (sor.fdjzs > 0 && sor.fdjzs < fdjds) // && cg->move == moveForward
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&& (sor1.fdjzs > 0 && sor1.fdjzs < fdjds) // && his1->move == moveForward
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&& (sor2.fdjzs > 0 && sor2.fdjzs < fdjds) // && his2->move == moveForward
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&& (sor3.fdjzs > 0 && sor3.fdjzs < fdjds) // && his3->move == moveForward
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&& (sor4.fdjzs > 0 && sor4.fdjzs < fdjds) // && his4->move == moveForward
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&& (m_itemv.Mark_ChuangDong == false) ) //闯动
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{
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m_itemv.Mark_ChuangDong = true;
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JUDGE_MARK_SUB3(2, "08", false);
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}
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}
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//起步时，加速踏板控制不当，致使发动机转速过高
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if(!m_itemv.Mark_2_09_Flag)
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{
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const TSensorInfo& sor3 = m_car->historySensor(3);
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const std::vector<std::string>& s502 = TableSysSet->asArray502();
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//发动机转速过高
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int ZSMax = s502.size() > 3 && s502[3] != "" ? std::atoi(s502[3].c_str()) : 2500; //StrToIntDef(GetDotStr(4, SysSet[502], ','), 2500);
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if(sor.fdjzs > ZSMax && sor1.fdjzs > ZSMax && sor2.fdjzs > ZSMax && sor3.fdjzs > ZSMax)
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{
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bool bb = true;
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int count = m_car->historyCount();
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for(int i = 1; i <= 10; i++)
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{
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if(i >= count) break;
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const TSensorInfo& sori = m_car->historySensor(i);
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if(sori.dh2 == SYES)
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{
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bb = false;
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break;
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}
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}
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if(IS_C2(m_carType))
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{
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if(ksdd == siteof::shanghaikm3 || Tools::pos(siteof::guizhou, ksdd) == true) //Copy(Ctl.KSDD, 1, 7) = 'guizhou'
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{
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bb = false;
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}
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}
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if(bb == true)
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{
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m_itemv.Mark_2_09_Flag = true;
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JUDGE_MARK_SUB3(2, "09", false);
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}
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}
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}
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//10秒未起步
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nogo_timeout();
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//溜车评判 20240730
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Judge_LiuChe();
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if(cg->ai_ljjl_cm - m_itemv.Temp_JL_CM >= 100)
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{
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if(cg->move == moveForward && his1->move == moveForward)
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{
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Judge_QiBu_FXD_LaBa(); //20240730
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Judge_QiBu_GuaCuoDang(); //20240730
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m_itemv.State = 2;
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return;
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}
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}
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}
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if(m_itemv.State == 2) //起步10米问题
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{
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if(cg->move == moveForward && his1->move == moveForward)
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{
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if(cg->ai_ljjl_cm - m_itemv.Temp_JL_CM >= 10*100+10) //放个10CM
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{
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if(sor.ssc == SYES) //手刹错误，未及时纠正
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{
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if(m_itemv.Error_SSC_Flag == true)
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{
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JUDGE_MARK_SUB3(2, "10", false, true);
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}
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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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}
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if(cg->move == moveForward && his1->move == moveForward && his2->move == moveStop)
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{
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if(sor.ssc == SYES)
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{
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m_itemv.Error_SSC_Flag = true;
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}
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}
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if(m_itemv.Error_SSC_Flag == true)
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{
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if(cg->move == moveForward)
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{
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if(sor.ssc == SNOT)
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{
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m_itemv.Error_SSC_Flag = false;
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//不松驻车制动器起步，但能及时纠正
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JUDGE_MARK_SUB3(2, "06", false, true);
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}
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}
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}
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//状态提示
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char buf[128] = {0};
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SafeSprintf(buf, sizeof(buf), JUDGE_UTF8S("%s->State:%d,项目距离=%d厘米,最大后溜=%dCM"),
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m_itemv.State == 1 ? JUDGE_UTF8S("起步未到达1米...") : JUDGE_UTF8S("起步超过1米..."),
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m_itemv.State, cg->ai_ljjl_cm - m_itemv.Temp_JL_CM, m_itemv.PubMaxLCValue);
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showStatus(buf);
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NS3JudgeVision_40202();
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}
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//具备起步条件，10秒没有起步
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void Sub3Judge02Qbxx::nogo_timeout()
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{
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const TChuanGan* cg = m_car->historyChuanGan();
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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 TSensorInfo& sor1 = his1->real.sensor;
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// C2 N空挡是0 R倒车档9 P驻车档10 D前进挡11
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//档位或者手刹信号发生变化，且变化的结果是前进挡和松手刹状态，开始计时，10秒后扣分
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if(m_itemv.ZhunBeiQiBuTK == 0)
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{
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const TSensorInfo& sor2 = m_car->historySensor(2);
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if((sor.dw != 0 && sor1.dw != 0 && sor.dw != sor2.dw && sor.dw >= 1 && sor.dw != 9 && sor.dw != 10) ||
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(sor.ssc == SNOT && sor1.ssc == SYES))
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{
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if(sor.dw >= 1 && sor.dw != 9 && sor.dw != 10 && sor.ssc == SNOT)
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{
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m_itemv.ZhunBeiQiBuTK = cg->tkCnt;
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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(sor.dw == 0 || sor.ssc == SYES)
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{
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m_itemv.ZhunBeiQiBuTK = 0;
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}
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if(m_itemv.ZhunBeiQiBuTK != 0 && cg->tkCnt - m_itemv.ZhunBeiQiBuTK > 10 * SECOND) //10秒未起步
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{
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if(m_car->rtkEnabled() && m_car->rtkEnabled(1))
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{
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if(cg->move != moveForward)
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{
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JUDGE_MARK_SUB3(2, "48", false);
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m_itemv.ZhunBeiQiBuTK = 0; //赋值0就是动作变化才重新扣 如果是循环扣分赋值成cg->tkCnt
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}
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}
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}
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}
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/*
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//档位或者手刹信号发生变化，且变化的结果是前进挡和松手刹状态，开始计时，10秒后扣分
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if(m_itemv.ZhunBeiQiBuTK == 0)
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{
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if((sor.dw != 0 && sor1.dw != 0 && sor.dw != sor1.dw && sor.dw >= 1 && sor.dw != 9) ||
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(sor.ssc == SNOT && sor1.ssc == SYES))
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{
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m_itemv.ZhunBeiQiBuTK = cg->tkCnt;
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}
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}
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else
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{
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if(cg->tkCnt - m_itemv.ZhunBeiQiBuTK > 10 * SECOND) //10秒未起步
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{
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if(gps.rtkEnabled == true && gps1.rtkEnabled == true)
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{
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if(cg->move != moveForward)
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{
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JUDGE_MARK_SUB3(2, "48", false);
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m_itemv.ZhunBeiQiBuTK = cg->tkCnt;
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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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//6、起步方向灯、喇叭
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void Sub3Judge02Qbxx::Judge_QiBu_FXD_LaBa()
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{
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const TChuanGan* cg = m_car->historyChuanGan();
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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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//1、检查起步前有没有打转向灯
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//if(cg->move == moveForward && his1->move == moveForward && his2->move == moveStop)
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if(cg->move == moveForward && his1->move == moveForward)
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{
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//可以多次触发起步，但是起步方向灯，全程只评判一次
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if(m_Pub_First_QiBu_Flag == true) return;
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m_Pub_First_QiBu_Flag = true;
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TCar* tcar = m_car->getTCar();
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if(tcar->Night_ID == true)
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{
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//大车夜考起步时未开启前照灯 yhy 2025-02-13
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bool FindFlag = (sor.ygd + sor.jgd != SNOT);
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if(!FindFlag)
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{
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for(int i = 1; i < 50; i++) //前进前10秒看看打没打过前照灯
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{
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const TChuanGan* hisi = m_car->historyChuanGan(i);
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if(hisi == nullptr) break;
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const TSensorInfo& sori = hisi->real.sensor;
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if(hisi->move == moveStop)
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{
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if(sori.ygd + sori.jgd != SNOT)
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{
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FindFlag = true;
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break;
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}
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}
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}
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}
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if(!FindFlag)
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{
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JUDGE_MARK_SUB3(13, "01", true);
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}
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}
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bool FindFlag = (sor.zfxd == SYES && sor.yfxd == SNOT);
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if(!FindFlag)
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{
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for(int i = 1; i < 50; i++)
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{
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const TChuanGan* hisi = m_car->historyChuanGan(i);
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if(hisi == nullptr) break;
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const TSensorInfo& sori = hisi->real.sensor;
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if(hisi->move == moveStop)
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{
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if(sori.zfxd == SYES && sori.yfxd == SNOT)
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{
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FindFlag = true;
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break;
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}
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}
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}
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}
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if(!FindFlag)
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{
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JUDGE_MARK_SUB3(2, "42", false, true); //JUDGE_MARK_SUB3(20, "73", false, true);
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}
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else
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{
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//看方向灯是否小于3秒
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int OKNum = 0;
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for(int i = 1; i < 50; i++)
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{
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const TChuanGan* hisi = m_car->historyChuanGan(i);
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if(hisi == nullptr) break;
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const TSensorInfo& sori = hisi->real.sensor;
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if(hisi->move == moveStop)
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{
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if(sori.zfxd == SYES && sori.yfxd == SNOT)
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{
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OKNum++;
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}
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}
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}
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if(OKNum < 3*FRAMES_PER_SECOND)
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{
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//JUDGE_MARK_SUB3(20, "224", false, true);
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JUDGE_MARK_SUB3(2, "43", false, true);
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}
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}
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//起步喇叭评判
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FindFlag = (sor.lb == SYES);
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if(!FindFlag)
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{
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int count = m_car->historyCount();
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for(int i = 1; i < 100; i++)
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{
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if(i >= count) break;
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const TChuanGan* hisi = m_car->historyChuanGan(i);
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const TSensorInfo& sori = hisi->real.sensor;
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if(hisi->move == moveStop)
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{
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if(sori.lb == SYES)
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{
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FindFlag = true;
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break;
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}
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}
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}
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}
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if(!FindFlag)
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{
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JUDGE_MARK_SUB3(2, "07", false, true);
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}
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}
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}
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//22、起步挂错挡
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void Sub3Judge02Qbxx::Judge_QiBu_GuaCuoDang()
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{
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if(m_car->historyCount() < 2) return;
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const TChuanGan* cg = m_car->historyChuanGan();
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const TChuanGan* his1 = m_car->historyChuanGan(1);
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//const TChuanGan* his5 = m_car->historyChuanGan(5);
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//const TChuanGan* his10 = m_car->historyChuanGan(10);
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//if(cg->move == moveForward && his1->move == moveStop && his5->move == moveStop && his10->move == moveStop)
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if(cg->move == moveForward && his1->move == moveForward)
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{
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const TSensorInfo& sor = cg->real.sensor;
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//小车1档起步, 大车1、2档起步
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//static const int gear = TableSysParm->findQiBuGear(m_car->carCode());
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static const int gear = m_car->getTCar()->StartSpeed;
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#if JUDGE_USE_INSPECT
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if(sor.dw_plc > gear) //无锡所用原始档位
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{
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JUDGE_MARK_SUB3(2, "44", false);
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}
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#else
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if(sor.dw > gear)
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{
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JUDGE_MARK_SUB3(2, "44", false);
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}
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#endif
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}
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}
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//1、溜车评判
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void Sub3Judge02Qbxx::Judge_LiuChe()
|
||
{
|
||
if(!m_car->rtkEnabled() || !m_car->rtkEnabled(1) || !m_car->rtkEnabled(2)) return;
|
||
|
||
const TChuanGan* cg = m_car->historyChuanGan();
|
||
const TGpsInfo& gps = cg->real.gps;
|
||
const TSensorInfo& sor = cg->real.sensor;
|
||
const TChuanGan* his1 = m_car->historyChuanGan(1);
|
||
|
||
static constexpr int dis30CM = 30; //32 后溜车距离
|
||
static constexpr int dis10CM = 10; //12
|
||
if(cg->move == moveForward && his1->move == moveForward) //前进的时候要评判溜车小于30厘米的
|
||
{
|
||
if(m_itemv.PubMaxLCValue >= dis10CM && m_itemv.PubMaxLCValue <= dis30CM)
|
||
{
|
||
//通用或起步项目
|
||
JUDGE_MARK_SUB3(2, "47", false);
|
||
}
|
||
|
||
m_itemv.PubLCTCPtt.x = 0;
|
||
m_itemv.PubLCTCPtt.y = 0;
|
||
m_itemv.PubMaxLCValue = 0;
|
||
m_itemv.PubCanMarkLC50Flag = true;
|
||
}
|
||
if(sor.dw != 9 && sor.dw != 6 && sor.ssc == SNOT)
|
||
{
|
||
//if(m_itemv.PubLCTCPtt.x == 0 && m_itemv.PubLCTCPtt.y == 0 && m_car->rtkEnabled())
|
||
if(m_car->rtkEnabled())
|
||
{
|
||
const TChuanGan* his2 = m_car->historyChuanGan(2);
|
||
if(cg->move == moveStop && his1->move == moveStop && his2->move == moveStop)
|
||
{
|
||
m_itemv.PubLCTCPtt.x = gps.ai_gps.x;
|
||
m_itemv.PubLCTCPtt.y = gps.ai_gps.y;
|
||
//m_itemv.PubMaxLCValue = 0;
|
||
}
|
||
}
|
||
ExamSensor* sensor = m_car->sensor();
|
||
if(m_itemv.PubLCTCPtt.x != 0 && m_itemv.PubLCTCPtt.y != 0 &&
|
||
gps.ai_gps.x != 0 && gps.ai_gps.y != 0 &&
|
||
sensor->calcMoveState() != moveForward)
|
||
{
|
||
int x = m_itemv.PubLCTCPtt.x - gps.ai_gps.x;
|
||
int y = m_itemv.PubLCTCPtt.y - gps.ai_gps.y;
|
||
int a = std::round(std::sqrt(x*x + y*y)); //cm
|
||
if(m_itemv.PubMaxLCValue < a)
|
||
{
|
||
m_itemv.PubMaxLCValue = a;
|
||
}
|
||
//溜车大于30了，直接扣分
|
||
if(m_itemv.PubCanMarkLC50Flag == true && m_itemv.PubMaxLCValue > dis30CM)
|
||
{
|
||
JUDGE_MARK_SUB3(2, "46", false);
|
||
m_itemv.PubCanMarkLC50Flag = false;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
void Sub3Judge02Qbxx::NS3JudgeVision_40202()
|
||
{
|
||
//起步项目中，车辆状态从停止切换前进前10s内，头部姿态没有大于左后侧角度【23度】
|
||
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.obsTime = nowTime;
|
||
}
|
||
|
||
const TChuanGan* cg = m_car->historyChuanGan();
|
||
const TChuanGan* his1 = m_car->historyChuanGan(1);
|
||
const TChuanGan* his2 = m_car->historyChuanGan(2);
|
||
if(cg->move == moveForward && his1->move == moveForward && his2->move == moveStop)
|
||
{
|
||
if(nowTime - m_itemv.obsTime > 10*SECOND)
|
||
{
|
||
m_itemv.obsTime = nowTime;
|
||
JUDGE_MARK_NSUB3(2, "03", false);
|
||
//NS3video
|
||
}
|
||
}
|
||
}
|