/// <summary>
/// 检测转向灯
/// </summary>
protected override void LeftIndicatorCheck(IndicatorCheckState checkState)
{
//角度设置0时，不进行角度达到检测转向灯
if (checkState == IndicatorCheckState.MidCheckAngle && Settings.TurnLeftAngle < 0.5)
{
return;
}
if (indicatorChecked)
{
return;
}
if (checkState == IndicatorCheckState.MidCheckAngle)
{
//设置了变道角度后
if (CurrentAngle.IsValidAngle() &&
StartAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(CurrentAngle, StartAngle, Settings.TurnLeftAngle))
{
if (Settings.TurnLeftEndFlag)
{
stopDelayDistance = CurrentDistance;
}
CheckLeft();
}
}
else if (checkState == IndicatorCheckState.StopCheck)
{
CheckLeft();
}
}
/// <summary>
/// 检测转向灯
/// </summary>
protected override void LeftIndicatorCheck(IndicatorCheckState checkState)
{
//角度设置0时，不进行角度达到检测转向灯
if (checkState == IndicatorCheckState.MidCheckAngle && Settings.TurnRightAngle < 0.5)
{
return;
}
if (indicatorChecked)
{
return;
}
if (checkState == IndicatorCheckState.MidCheckAngle)
{
//设置了变道角度后
if (CarSignalSet.Current.BearingAngle.IsValidAngle() &&
StartAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(CarSignalSet.Current.BearingAngle, StartAngle, Settings.TurnRightAngle))
{
CheckRight();
}
}
else if (checkState == IndicatorCheckState.StopCheck)
{
CheckRight();
}
}
public override void WriteGroupCodes()
{
WriteGroupCodeValue(10, X0.ToString().Trim());
WriteGroupCodeValue(20, Y0.ToString().Trim());
WriteGroupCodeValue(30, Z0.ToString().Trim());
WriteGroupCodeValue(40, Radius.ToString().Trim());
WriteGroupCodeValue(50, StartAngle.ToString().Trim());
WriteGroupCodeValue(51, EndAngle.ToString().Trim());
}
private void Update(EvaluationContext context)
{
var closeCircle = CloseCircle.GetValue(context);
var circleOffset = closeCircle ? 1 : 0;
var corners = Count.GetValue(context).Clamp(1, 10000);
var pointCount = corners + circleOffset;
var listCount = corners + 2 * circleOffset; // Separator
if (_pointList.NumElements != listCount)
{
//_points = new T3.Core.DataTypes.Point[count];
_pointList.SetLength(listCount);
}
var axis = Axis.GetValue(context);
var center = Center.GetValue(context);
var offset = Offset.GetValue(context);
var radius = Radius.GetValue(context);
var radiusOffset = RadiusOffset.GetValue(context);
var thickness = W.GetValue(context);
var thicknessOffset = WOffset.GetValue(context);
var angelInRads = StartAngle.GetValue(context) * MathUtils.ToRad + (float)Math.PI / 2;
var deltaAngle = -Cycles.GetValue(context) * MathUtils.Pi2 / (pointCount - circleOffset);
for (var index = 0; index < pointCount; index++)
{
var f = corners == 1
? 1
: (float)index / pointCount;
var length = MathUtils.Lerp(radius, radius + radiusOffset, f);
var v = Vector3.UnitX * length;
var rot = Quaternion.CreateFromAxisAngle(axis, angelInRads);
var vInAxis = Vector3.Transform(v, rot) + Vector3.Lerp(center, center + offset, f);
var p = new Point
{
Position = vInAxis,
W = MathUtils.Lerp(thickness, thickness + thicknessOffset, f),
Orientation = rot
};
_pointList[index] = p;
angelInRads += deltaAngle;
}
if (closeCircle)
{
_pointList[listCount - 1] = Point.Separator();
}
ResultList.Value = _pointList;
}
public override void Save()
{
MDictionary.Clear();
XmlHelperPaint.ShapeType = TrackType;
MDictionary.Add("RecX", Rectangle.X.ToString());
MDictionary.Add("RecY", Rectangle.Y.ToString());
MDictionary.Add("RecW", Rectangle.Width.ToString());
MDictionary.Add("RecH", Rectangle.Height.ToString());
MDictionary.Add("StartAngle", StartAngle.ToString());
MDictionary.Add("EndAngle", EndAngle.ToString());
XmlHelperPaint.SavePaintSetting(MDictionary);
}
/// <inheritdoc />
public override Vector3 GetNormalAt(Vector2 uv)
{
float u = uv.X;
float v = uv.Y;
Vector3 curveTangent = Vector3.Normalize(CenterCurve.GetTangentAt(v));
Vector3 curveNormal = Vector3.Normalize(CenterCurve.GetNormalAt(v));
Vector3 curveBinormal = Vector3.Cross(curveTangent, curveNormal);
float startAngle = StartAngle.GetValueAt(v);
float endAngle = EndAngle.GetValueAt(v);
return((float)Math.Cos(u) * curveNormal + (float)Math.Sin(u) * curveBinormal);
}
/// <inheritdoc />
public override dvec3 GetNormalAt(dvec2 uv)
{
DebugUtil.AssertAllFinite(uv, nameof(uv));
double u = uv.x;
double v = uv.y;
dvec3 curveTangent = CenterCurve.GetTangentAt(v).Normalized;
dvec3 curveNormal = CenterCurve.GetNormalAt(v).Normalized;
dvec3 curveBinormal = dvec3.Cross(curveTangent, curveNormal);
double startAngle = StartAngle.GetValueAt(v);
double endAngle = EndAngle.GetValueAt(v);
return(Math.Cos(u) * curveNormal + Math.Sin(u) * curveBinormal);
}
/// <summary>
/// 속성들을 Xml Attribute로 생성합니다.
/// </summary>
/// <param name="writer">Attribute를 쓸 Writer</param>
public override void GenerateXmlAttributes(System.Xml.XmlWriter writer)
{
base.GenerateXmlAttributes(writer);
if (Sides.HasValue)
{
writer.WriteAttributeString("Sides", Sides.ToString());
}
if (StartAngle.HasValue)
{
writer.WriteAttributeString("StartAngle", StartAngle.ToString());
}
if (EndAngle.HasValue)
{
writer.WriteAttributeString("EndAngle", EndAngle.ToString());
}
}
/// <inheritdoc />
public float RayIntersect(Ray ray)
{
Vector3 rayStart = ray.StartPosition;
Vector3 rayDirection = ray.Direction;
// Since we raytrace only using a cylindrical surface that is horizontal and at the origin, we
// first shift and rotate the ray such that we get the right orientation:
Vector3 start = CenterCurve.GetStartPosition();
Vector3 end = CenterCurve.GetEndPosition();
Vector3 tangent = Vector3.Normalize(CenterCurve.GetTangentAt(0.0f));
Vector3 normal = Vector3.Normalize(CenterCurve.GetNormalAt(0.0f));
Vector3 binormal = Vector3.Normalize(CenterCurve.GetBinormalAt(0.0f));
float length = Vector3.Distance(start, end);
// CenterCurve is guaranteed to be a LineSegment, since the base property CenterCurve is masked by this
// class' CenterCurve property that only accepts a LineSegment, and similarly this class' constructor only
// accepts a LineSegment. The following mathematics, which assumes that the central axis is a line segment,
// is therefore valid.
Matrix4x4 rotationMatrix = new Matrix4x4(normal.X, binormal.X, tangent.X / length, 0.0f,
normal.Y, binormal.Y, tangent.Y / length, 0.0f,
normal.Z, binormal.Z, tangent.Z / length, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
Vector3 rescaledRay = Vector3.Transform(rayStart - start, rotationMatrix);
Vector3 newDirection = Vector3.TransformNormal(Vector3.Normalize(rayDirection), rotationMatrix);
float x0 = rescaledRay.X;
float y0 = rescaledRay.Y;
float z0 = rescaledRay.Z;
float a = newDirection.X;
float b = newDirection.Y;
float c = newDirection.Z;
// Raytrace using a cylindrical surface equation x^2 + y^2. The parameters in the following line
// represent the coefficients of the expanded cylindrical surface equation, after the substitution
// x = x_0 + a t and y = y_0 + b t:
QuarticFunction surfaceFunction = new QuarticFunction(x0 * x0 + y0 * y0, 2.0f * (x0 * a + y0 * b), a * a + b * b, 0.0f, 0.0f);
IEnumerable <float> intersections = Radius.SolveRaytrace(surfaceFunction, z0, c);
// The previous function returns a list of intersection distances. The value closest to 0.0f represents the
// closest intersection point.
float minimum = Single.PositiveInfinity;
foreach (float i in intersections)
{
// Calculate the 3d point at which the ray intersects the cylinder:
Vector3 intersectionPoint = rayStart + i * rayDirection;
// Find the closest point to the intersectionPoint on the centerLine.
// Get the vector v from the start of the cylinder to the intersection point:
Vector3 v = intersectionPoint - start;
// ...And project this vector onto the center line:
float t = -Vector3.Dot(intersectionPoint, tangent * length) / (length * length);
// Now we have the parameter t on the surface of the SymmetricCylinder at which the ray intersects.
// Find the angle to the normal of the centerLine, so that we can determine whether the
// angle is within the bound of the pie-slice at position t:
Vector3 centerLineNormal = CenterCurve.GetNormalAt(t);
Vector3 centerLineBinormal = CenterCurve.GetBinormalAt(t);
Vector3 d = intersectionPoint - CenterCurve.GetPositionAt(t);
float correctionShift = (float)Math.Sign(Vector3.Dot(d, centerLineBinormal));
float phi = (correctionShift * (float)Math.Acos(Vector3.Dot(d, centerLineNormal))) % (2.0f * (float)Math.PI);
// Determine if the ray is inside the pie-slice of the cylinder that is being displayed,
// otherwise discard:
if (phi > StartAngle.GetValueAt(t) && phi < EndAngle.GetValueAt(t) && i >= 0.0f)
{
minimum = Math.Sign(i) * (float)Math.Min(Math.Abs(minimum), Math.Abs(i));
}
}
return(minimum);
}
public override int GetHashCode()
{
unchecked
{
return((Location.GetHashCode() * 397) ^ (RadiusX.GetHashCode() * 397) ^ (RadiusY.GetHashCode() * 397) ^ (StartAngle.GetHashCode() * 397) ^ SweepAngle.GetHashCode());
}
}
protected override void ExecuteCore(CarSignalInfo signalInfo)
{
if (!InitializedExamParms)
{
return;
}
//乱打灯不扣分，20160323，李
if (!IsOpenLeftIndicatorLight && signalInfo.Sensor.LeftIndicatorLight)
{
IsOpenLeftIndicatorLight = true;
}
//掉头打完左转向，在打右转向不扣分，20160323
if (!isSpeakIndicator && !IsOpenLeftIndicatorLight &&
CarSignalSet.Query(StartTime).Count(d => d.Sensor.RightIndicatorLight) >= Constants.ErrorSignalCount)
{
isSpeakIndicator = true;
BreakRule(DeductionRuleCodes.RC40212);
}
//喇叭检测
if (signalInfo.Sensor.Loudspeaker)
{
IsLoudSpeakerCheck = true;
}
//检测远近光交替
if (Settings.TurnRoundLightCheck && !IsCheckedLowAndHighBeam)
{
IsCheckedLowAndHighBeam = signalInfo.Sensor.HighBeam;
}
if (StepState == TurnRoundStep.None)
{
//检测方向角是否开始调头
if (signalInfo.BearingAngle.IsValidAngle() && StartAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(signalInfo.BearingAngle, StartAngle, Settings.TurnRoundStartAngleDiff))
{
StepState = TurnRoundStep.StartTurnRound;
}
}
else if (StepState == TurnRoundStep.StartTurnRound)
{
//开始掉头检测灯光
if (!IsCheckedTurnRoundLight)
{
IsCheckedTurnRoundLight = true;
if (!CarSignalSet.Query(StartTime).Any(d => d.Sensor.LeftIndicatorLight))
{
BreakRule(DeductionRuleCodes.RC41503);
}
else
{
//打了右转向灯进行评判
if (!IsOpenLeftIndicatorLight && CarSignalSet.Query(StartTime).Any(d => d.Sensor.RightIndicatorLight))
{
BreakRule(DeductionRuleCodes.RC30205);
return;
}
var isOk = AdvancedSignal.CheckOperationAheadSeconds(x => x.Sensor.LeftIndicatorLight, StartTime, Settings.TurnLightAheadOfTime);
if (!isOk)
{
BreakRule(DeductionRuleCodes.RC30206, DeductionRuleCodes.SRC3020607);
}
}
}
//检测是否掉头完毕
if (signalInfo.BearingAngle.IsValidAngle() &&
StartAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(signalInfo.BearingAngle, StartAngle, Settings.TurnRoundEndAngleDiff))
{
if (Settings.TurnRoundBrakeRequired &&
!CarSignalSet.Query(StartTime).Any(x => x.Sensor.Brake))
{
BreakRule(DeductionRuleCodes.RC41505);
}
StepState = TurnRoundStep.EndTurnRound;
}
}
else
{
IsSuccess = true;
return;
//StopCore();
}
base.ExecuteCore(signalInfo);
}
/// <inheritdoc />
public double RayIntersect(Ray ray)
{
dvec3 rayStart = ray.StartPosition;
dvec3 rayDirection = ray.Direction;
DebugUtil.AssertAllFinite(rayStart, nameof(rayStart));
DebugUtil.AssertAllFinite(rayDirection, nameof(rayDirection));
// Since we raytrace only using a cylindrical surface that is horizontal and at the origin, we
// first shift and rotate the ray such that we get the right orientation:
dvec3 start = CenterCurve.GetStartPosition();
dvec3 end = CenterCurve.GetEndPosition();
DebugUtil.AssertAllFinite(start, nameof(start));
DebugUtil.AssertAllFinite(end, nameof(end));
dvec3 tangent = CenterCurve.GetTangentAt(0.0).Normalized;
dvec3 normal = CenterCurve.GetNormalAt(0.0).Normalized;
dvec3 binormal = CenterCurve.GetBinormalAt(0.0).Normalized;
DebugUtil.AssertAllFinite(tangent, nameof(tangent));
DebugUtil.AssertAllFinite(normal, nameof(normal));
DebugUtil.AssertAllFinite(binormal, nameof(binormal));
double length = dvec3.Distance(start, end);
DebugUtil.AssertFinite(length, nameof(length));
// CenterCurve is guaranteed to be a LineSegment, since the base property CenterCurve is masked by this
// class' CenterCurve property that only accepts a LineSegment, and similarly this class' constructor only
// accepts a LineSegment. The following mathematics, which assumes that the central axis is a line segment,
// is therefore valid.
dmat3 rotationMatrix = new dmat3(normal, binormal, tangent / length).Transposed;
dvec3 rescaledRay = rotationMatrix * (rayStart - start);
dvec3 newDirection = rotationMatrix * rayDirection.Normalized;
double x0 = rescaledRay.x;
double y0 = rescaledRay.y;
double z0 = rescaledRay.z;
double a = newDirection.x;
double b = newDirection.y;
double c = newDirection.z;
// Raytrace using a cylindrical surface equation x^2 + y^2. The parameters in the following line
// represent the coefficients of the expanded cylindrical surface equation, after the substitution
// x = x_0 + a t and y = y_0 + b t:
QuarticFunction surfaceFunction = new QuarticFunction(x0 * x0 + y0 * y0, 2.0 * (x0 * a + y0 * b), a * a + b * b, 0.0, 0.0);
IEnumerable <double> intersections = Radius.SolveRaytrace(surfaceFunction, z0, c);
// The previous function returns a list of intersection distances. The value closest to 0.0f represents the
// closest intersection point.
double minimum = Single.PositiveInfinity;
foreach (double i in intersections)
{
// Calculate the 3d point at which the ray intersects the cylinder:
dvec3 intersectionPoint = rayStart + i * rayDirection;
// Find the closest point to the intersectionPoint on the centerLine.
// Get the vector v from the start of the cylinder to the intersection point:
dvec3 v = intersectionPoint - start;
// ...And project this vector onto the center line:
double t = -dvec3.Dot(intersectionPoint, tangent * length) / (length * length);
// Now we have the parameter t on the surface of the SymmetricCylinder at which the ray intersects.
// Find the angle to the normal of the centerLine, so that we can determine whether the
// angle is within the bound of the pie-slice at position t:
dvec3 centerLineNormal = CenterCurve.GetNormalAt(t);
dvec3 centerLineBinormal = CenterCurve.GetBinormalAt(t);
dvec3 d = intersectionPoint - CenterCurve.GetPositionAt(t);
double correctionShift = Math.Sign(dvec3.Dot(d, centerLineBinormal));
double phi = (correctionShift * Math.Acos(dvec3.Dot(d, centerLineNormal))) % (2.0 * Math.PI);
// Determine if the ray is inside the pie-slice of the cylinder that is being displayed,
// otherwise discard:
if (phi > StartAngle.GetValueAt(t) && phi < EndAngle.GetValueAt(t) && i >= 0.0)
{
minimum = Math.Sign(i) * Math.Min(Math.Abs(minimum), Math.Abs(i));
}
}
return(minimum);
}
protected override void ExecuteCore(CarSignalInfo signalInfo)
{
if (!InitializedExamParms)
{
return;
}
//喇叭检测
if (signalInfo.Sensor.Loudspeaker)
{
IsLoudSpeakerCheck = true;
}
//检测远近光交替
if (Settings.TurnRoundLightCheck && !IsCheckedLowAndHighBeam)
{
IsCheckedLowAndHighBeam = signalInfo.Sensor.HighBeam;
}
//检测右转
if (Settings.TurnRoundErrorLight && !IsCheckedTurnRoundLight)
{
if (signalInfo.Sensor.RightIndicatorLight)
{
IsCheckedTurnRoundLight = true;
CheckRule(true, DeductionRuleCodes.RC41503);
}
}
///停车不检测角度
if (signalInfo.CarState == CarState.Stop)
{
return;
}
if (StepState == TurnRoundStep.None)
{
//检测方向角是否开始调头
//Gps角度其实也是可以通过一些方法滤波的
if (signalInfo.BearingAngle.IsValidAngle() && StartAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(signalInfo.BearingAngle, StartAngle, Settings.TurnRoundStartAngleDiff))
{
StepState = TurnRoundStep.StartTurnRound;
}
}
else if (StepState == TurnRoundStep.StartTurnRound)
{
//开始掉头检测灯光
if (!IsCheckedTurnRoundLight)
{
IsCheckedTurnRoundLight = true;
if (!CarSignalSet.Query(StartTime).Any(d => d.Sensor.LeftIndicatorLight))
{
CheckRule(true, DeductionRuleCodes.RC41503);
}
else
{
var isOk = AdvancedSignal.CheckOperationAheadSeconds(x => x.Sensor.LeftIndicatorLight, StartTime, Settings.TurnLightAheadOfTime);
if (!isOk)
{
BreakRule(DeductionRuleCodes.RC30206, DeductionRuleCodes.SRC3020607);
}
}
////
//if (CarSignalSet.Query(StartTime).Any(d => d.Sensor.RightIndicatorLight))
//{
// BreakRule(DeductionRuleCodes.RC30206);
//}
}
//检测是否掉头完毕
if (signalInfo.BearingAngle.IsValidAngle() &&
StartAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(signalInfo.BearingAngle, StartAngle, Settings.TurnRoundEndAngleDiff))
{
if (Settings.TurnRoundBrakeRequired &&
!CarSignalSet.Query(StartTime).Any(x => x.Sensor.Brake))
{
BreakRule(DeductionRuleCodes.RC41505);
}
StepState = TurnRoundStep.EndTurnRound;
}
}
else
{
StopCore();
}
base.ExecuteCore(signalInfo);
}
public string ToString(string format, IFormatProvider formatProvider)
{
if (this == null)
{
return(nameof(Ellipse2D));
}
var sep = ((formatProvider as CultureInfo) ?? CultureInfo.InvariantCulture).GetNumericListSeparator();
return($"{nameof(EllipticalArc2D)}({nameof(X)}: {X.ToString(format, formatProvider)}{sep} {nameof(Y)}: {Y.ToString(format, formatProvider)}{sep} {nameof(RadiusA)}: {RadiusA.ToString(format, formatProvider)}{sep} {nameof(RadiusB)}: {RadiusB.ToString(format, formatProvider)}{sep} {nameof(Angle)}: {Angle.ToString(format, formatProvider)}{sep} {nameof(StartAngle)}: {StartAngle.ToString(format, formatProvider)}{sep} {nameof(SweepAngle)}: {SweepAngle.ToString(format, formatProvider)})");
}
/// <inheritdoc />
public override List <Vertex> GenerateVertexList(int resolutionU, int resolutionV)
{
List <Vertex> output = new List <Vertex>(CalculateVertexCount(resolutionU, resolutionV));
for (int j = 0; j < (resolutionV + 1); j++)
{
float v = (float)j / (float)resolutionV;
// Find the values at each ring:
Vector3 curveTangent = Vector3.Normalize(CenterCurve.GetTangentAt(v));
Vector3 curveNormal = Vector3.Normalize(CenterCurve.GetNormalAt(v));
Vector3 curveBinormal = Vector3.Cross(curveTangent, curveNormal);
Vector3 translation = CenterCurve.GetPositionAt(v);
float startAngle = StartAngle.GetValueAt(v);
float endAngle = EndAngle.GetValueAt(v);
for (int i = 0; i < resolutionU; i++)
{
// First find the normalized uv-coordinates, u = [0, 2pi], v = [0, 1]:
float u = startAngle + (endAngle - startAngle) * (float)i / (float)resolutionU;
float radius = Radius.GetValueAt(new Vector2(u, v));
// Calculate the position of the rings of vertices:
Vector3 surfaceNormal = (float)Math.Cos(u) * curveNormal + (float)Math.Sin(u) * curveBinormal;
Vector3 surfacePosition = translation + radius * surfaceNormal;
output.Add(new Vertex(surfacePosition, surfaceNormal));
}
}
// Recalculate the surface normal after deformation:
for (int j = 1; j < resolutionV; j++)
{
for (int i = 0; i < (resolutionU - 1); i++)
{
Vector3 surfacePosition = output[(j - 1) * resolutionU + i].Position;
Vector3 du = surfacePosition - output[(j - 1) * resolutionU + i + 1].Position;
Vector3 dv = surfacePosition - output[(j) * resolutionU + i].Position;
// Calculate the position of the rings of vertices:
Vector3 surfaceNormal = Vector3.Cross(Vector3.Normalize(du), Vector3.Normalize(dv));
output[(j - 1) * resolutionU + i] = new Vertex(surfacePosition, surfaceNormal);
}
// Stitch the end of the triangles:
Vector3 surfacePosition2 = output[(j - 1) * resolutionU + resolutionU - 1].Position;
Vector3 du2 = surfacePosition2 - output[(j - 1) * resolutionU].Position;
Vector3 dv2 = surfacePosition2 - output[(j) * resolutionU + resolutionU - 1].Position;
// Calculate the position of the rings of vertices:
Vector3 surfaceNormal2 = Vector3.Cross(Vector3.Normalize(du2), Vector3.Normalize(dv2));
output[(j - 1) * resolutionU + resolutionU - 1] = new Vertex(surfacePosition2, surfaceNormal2);
}
return(output);
}
protected override void ExecuteCore(CarSignalInfo signalInfo)
{
//启用角度
if (Settings.PulloverAngle > 1 && CheckAngleLight &&
PullOverStepState < PullOverStep.StopCar)
{
if (signalInfo.BearingAngle.IsValidAngle() &&
StartAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(signalInfo.BearingAngle, StartAngle, Settings.PulloverAngle))
{
CheckAngleLight = false;
if (CarSignalSet.Query(StartTime).Any(d => d.Sensor.LeftIndicatorLight) || !signalInfo.Sensor.RightIndicatorLight)
{
CheckRule(true, DeductionRuleCodes.RC40610);
}
else
{
var lastSignal = CarSignalSet.QueryCachedSeconds(Settings.TurnLightAheadOfTime).LastOrDefault();
if (lastSignal == null || !lastSignal.Sensor.RightIndicatorLight)
{
CheckRule(true, DeductionRuleCodes.RC40611);
}
}
}
}
//如果车停了又继续走了，并且状态在结束 标识之前 充值状态 //要求是下车前
//if ((int)PullOverStepState >= (int)PullOverStep.StopCar && signalInfo.CarState != CarState.Stop && PullOverStepState != PullOverStep.CloseDoor && PullOverStepState != PullOverStep.CheckStop)
//{
// PullOverStepState = PullOverStep.None;
// _isTouchExteriorMirror = false;
//}
if ((int)PullOverStepState >= (int)PullOverStep.StopCar &&
!_isTouchExteriorMirror)
{
if (signalInfo.Sensor.ExteriorMirror)
{
_isTouchExteriorMirror = true;
//......
//......
//......
//......
Speaker.PlayAudioAsync("观望镜确认");
}
}
if (PullOverStepState == PullOverStep.None)
{
if (signalInfo.Sensor.Handbrake)
{
PullOverStepState = PullOverStep.StopCar;
StopCarTime = DateTime.Now;
Messenger.Send(new EngineRuleMessage(false));
Logger.DebugFormat("{0}-关闭发动机熄火评判规则", Name);
}
//if (signalInfo.CarState == CarState.Stop)
//{
// PullOverStepState = PullOverStep.StopCar;
// StopCarTime = DateTime.Now;
// Messenger.Send(new EngineRuleMessage(false));
// Logger.DebugFormat("{0}-关闭发动机熄火评判规则", Name);
//}
}
else if (PullOverStepState == PullOverStep.StopCar)
{
//停车转向灯检查 停车前不使用或错误使用转向灯
PullOverStepState = PullOverStep.OpenPullOverLight;
if (CarSignalSet.Query(StartTime).Any(d => d.Sensor.LeftIndicatorLight) || !signalInfo.Sensor.RightIndicatorLight)
{
CheckRule(true, DeductionRuleCodes.RC40610);
}
else
{
var lastSignal = CarSignalSet.QueryCachedSeconds(Settings.TurnLightAheadOfTime).LastOrDefault();
if (lastSignal == null || !lastSignal.Sensor.RightIndicatorLight)
{
CheckRule(true, DeductionRuleCodes.RC40611);
}
//var advancedSignal = Resolve<IAdvancedCarSignal>();
//var rightIndicator = AdvancedSignal.CheckOperationAheadSeconds(x => x.Sensor.RightIndicatorLight, StartTime, Settings.TurnLightAheadOfTime);
//if (!rightIndicator)
//{
// BreakRule(DeductionRuleCodes.RC40611);
//}
}
}
//开光车门之后再检查手刹
else if (PullOverStepState == PullOverStep.OpenPullOverLight)
{
CheckHandbrake(signalInfo);
PullOverStepState = PullOverStep.PullHandbrake;
}
else if (PullOverStepState == PullOverStep.PullHandbrake)
{
//判断靠边停车是否结束
CheckEndMark(signalInfo);
}
else if (PullOverStepState == PullOverStep.CheckStop)
{
//if (signalInfo.Sensor.ExteriorMirror)
//{
// _isTouchExteriorMirror = true;
// Speaker.PlayAudioAsync("sanya/ExteriorMirror.wav", Infrastructure.Speech.SpeechPriority.Normal);
//}
//检测手刹
//
if (!_isCheckedPulloverStop)
{
_isCheckedPulloverStop = true;
CheckPullOverStop(signalInfo);
}
//如果结束标识 不是开关车门
if (!(Settings.PullOverEndMark == PullOverEndMark.None ||
Settings.PullOverEndMark == PullOverEndMark.OpenCloseDoorCheck))
{
StopCore();
return;
}
if (!OpenDoorTime.HasValue)
{
OpenDoorTime = DateTime.Now;
}
if (!signalInfo.Sensor.Door)
{
PullOverStepState = PullOverStep.CloseDoor;
Messenger.Send(new DoorChangedMessage(signalInfo.Sensor.Door));
StopCore();
return;
}
//在规定的时间内没有关闭车门
if (CloseDoorTimeOut())
{
BreakRule(DeductionRuleCodes.RC40605);
StopCore();
}
}
}
protected override void ExecuteCore(CarSignalInfo signalInfo)
{
//设置了变道角度后
//设置了变道
if (Constants.PullOverDistance == 0)
{
Constants.PullOverDistance = signalInfo.Distance;
}
if (Settings.PulloverAngle > 0.5 && signalInfo.BearingAngle.IsValidAngle() &&
StartAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(signalInfo.BearingAngle, StartAngle, Settings.PulloverAngle))
{
CheckRightIndicatorLight();
}
if (Settings.PullOverEndMark == PullOverEndMark.OpenCloseDoorCheck &&
PullOverStepState < PullOverStep.StopCar && signalInfo.Sensor.Door)
{
if (!signalInfo.Sensor.Handbrake)
{
CheckRule(true, DeductionRuleCodes.RC40607, DeductionRuleCodes.SRC4060701);
}
CheckEndMark(signalInfo);
}
if (PullOverStepState == PullOverStep.None)
{
if ((signalInfo.CarState == CarState.Stop && Settings.PullOverMark == PullOverMark.CarStop) ||
(signalInfo.Sensor.Handbrake && Settings.PullOverMark == PullOverMark.Handbrake))
{
PullOverStepState = PullOverStep.StopCar;
StopCarTime = DateTime.Now;
Messenger.Send(new EngineRuleMessage(false));
}
}
else if (PullOverStepState == PullOverStep.StopCar)
{
//停车转向灯检查
PullOverStepState = PullOverStep.OpenPullOverLight;
CheckRightIndicatorLight();
}
else if (PullOverStepState == PullOverStep.OpenPullOverLight)
{
CheckHandbrake(signalInfo);
}
else if (PullOverStepState == PullOverStep.PullHandbrake)
{
//判断靠边停车是否结束
CheckEndMark(signalInfo);
}
else if (PullOverStepState == PullOverStep.CheckStop)
{
if (!_isCheckedPulloverStop)
{
_isCheckedPulloverStop = true;
CheckPullOverStop(signalInfo);
}
if (Settings.PullOverEndMark == PullOverEndMark.OpenDoorCheck)
{
StopCore();
return;
}
//true false
if (!(Settings.PullOverEndMark == PullOverEndMark.None ||
Settings.PullOverEndMark == PullOverEndMark.OpenCloseDoorCheck))
{
StopCore();
return;
}
if (!OpenDoorTime.HasValue)
{
OpenDoorTime = DateTime.Now;
}
//关车门
if (!signalInfo.Sensor.Door)
{
//海南版本特殊要求开关车门两次
if (DataBase.VersionNumber.Contains("海南"))
{
if (CloseDoorCount >= 2)
{
PullOverStepState = PullOverStep.CloseDoor;
//关车门
Messenger.Send(new DoorChangedMessage(signalInfo.Sensor.Door));
StopCore();
return;
}
}
else
{
PullOverStepState = PullOverStep.CloseDoor;
//关车门
Messenger.Send(new DoorChangedMessage(signalInfo.Sensor.Door));
StopCore();
return;
}
}
//在规定的时间内没有关闭车门
if (CloseDoorTimeOut())
{
BreakRule(DeductionRuleCodes.RC40605);
StopCore();
}
}
}
/// <summary></summary>
/// <returns></returns>
public override string ToString()
{
return(ToString("Center=" + Center.ToString("0.00") + ", StartAngle=" + StartAngle.ToString("0.0") + ", SweepAngle=" + SweepAngle.ToString("0.0")));
}
/// <inheritdoc />
public override List <Vertex> GenerateVertexList(int resolutionU, int resolutionV)
{
// If asked to sample at zero points, return an empty list.
if (resolutionU <= 0 || resolutionV <= 0)
{
return(new List <Vertex>());
}
var roughs = ParallelEnumerable.Range(0, resolutionV + 1).AsOrdered().SelectMany((j =>
{
double v = (double)j / (double)resolutionV;
// Find the values at each ring:
dvec3 curveTangent = CenterCurve.GetTangentAt(v).Normalized;
dvec3 curveNormal = CenterCurve.GetNormalAt(v).Normalized;
dvec3 curveBinormal = dvec3.Cross(curveTangent, curveNormal);
dvec3 translation = CenterCurve.GetPositionAt(v);
double startAngle = StartAngle.GetValueAt(v);
double endAngle = EndAngle.GetValueAt(v);
return(Enumerable.Range(0, resolutionU).Select((i) =>
{
double u = startAngle + (endAngle - startAngle) * (double)i / (double)resolutionU;
double radius = Radius.GetValueAt(new dvec2(u, v));
// Calculate the position of the rings of vertices:
dvec3 surfaceNormal = (double)Math.Cos(u) * curveNormal + (double)Math.Sin(u) * curveBinormal;
dvec3 surfacePosition = translation + radius * surfaceNormal;
return new Vertex((vec3)surfacePosition, (vec3)surfaceNormal);
}));
}));
List <Vertex> output = roughs.ToList();
// Recalculate the surface normal after deformation:
for (int j = 1; j < resolutionV; j++)
{
for (int i = 0; i < (resolutionU - 1); i++)
{
dvec3 surfacePosition = output[(j - 1) * resolutionU + i].Position;
dvec3 du = surfacePosition - output[(j - 1) * resolutionU + i + 1].Position;
dvec3 dv = surfacePosition - output[(j) * resolutionU + i].Position;
// Calculate the position of the rings of vertices:
dvec3 surfaceNormal = dvec3.Cross(du.Normalized, dv.Normalized);
output[(j - 1) * resolutionU + i] = new Vertex((vec3)surfacePosition, (vec3)surfaceNormal);
}
// Stitch the end of the triangles:
dvec3 surfacePosition2 = output[(j - 1) * resolutionU + resolutionU - 1].Position;
dvec3 du2 = surfacePosition2 - output[(j - 1) * resolutionU].Position;
dvec3 dv2 = surfacePosition2 - output[(j) * resolutionU + resolutionU - 1].Position;
// Calculate the position of the rings of vertices:
dvec3 surfaceNormal2 = dvec3.Cross(du2.Normalized, dv2.Normalized);
output[(j - 1) * resolutionU + resolutionU - 1] = new Vertex((vec3)surfacePosition2, (vec3)surfaceNormal2);
}
return(output);
}
protected override void ExecuteCore(CarSignalInfo signalInfo)
{
//设置了变道角度后
//todo：bug
if (Settings.PulloverAngle > 0.5 && signalInfo.BearingAngle.IsValidAngle() &&
StartAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(signalInfo.BearingAngle, StartAngle, Settings.PulloverAngle))
{
CheckRightIndicatorLight();
}
queueOpenDoor.Enqueue(signalInfo.Sensor.Door);
if (queueOpenDoor.Count > 3)
{
queueOpenDoor.Dequeue();
}
//有可能错误检测到了开门信号导致直接结束考试流程
//判断下是否停车肯定是停车状态下
//判断下最近
//if (Settings.PullOverEndMark == PullOverEndMark.OpenCloseDoorCheck &&
// //停车状态下至少是3个连续信号
// //保证OpenDoor都是开门信号
// //保证基本上是车停的时候
// PullOverStepState < PullOverStep.StopCar&& signalInfo.Sensor.SpeedInKmh<=1&& signalInfo.Sensor.Door&&queueOpenDoor.Where(s=>s==true).Count()>=2)
//{
// //闪过一个信号后判断
// if(!signalInfo.Sensor.Handbrake)
// CheckRule(true,DeductionRuleCodes.RC40607, DeductionRuleCodes.SRC4060701);
// CheckEndMark(signalInfo);
//}
if (PullOverStepState == PullOverStep.None)
{
if ((signalInfo.CarState == CarState.Stop && Settings.PullOverMark == PullOverMark.CarStop) ||
(signalInfo.Sensor.Handbrake && Settings.PullOverMark == PullOverMark.Handbrake))
{
if (signalInfo.Sensor.Handbrake)
{
Speaker.PlayAudioAsync("请下车", SpeechPriority.High);
}
PullOverStepState = PullOverStep.StopCar;
StopCarTime = DateTime.Now;
Messenger.Send(new EngineRuleMessage(false));
}
}
else if (PullOverStepState == PullOverStep.StopCar)
{
//停车转向灯检查
PullOverStepState = PullOverStep.OpenPullOverLight;
CheckRightIndicatorLight();
}
else if (PullOverStepState == PullOverStep.OpenPullOverLight)
{
CheckHandbrake(signalInfo);
}
else if (PullOverStepState == PullOverStep.PullHandbrake)
{
//判断靠边停车是否结束
CheckEndMark(signalInfo);
}
else if (PullOverStepState == PullOverStep.CheckStop)
{
if (!_isCheckedPulloverStop)
{
_isCheckedPulloverStop = true;
CheckPullOverStop(signalInfo);
}
if (Settings.PullOverEndMark == PullOverEndMark.OpenDoorCheck)
{
StopCore();
return;
}
//true false
if (!(Settings.PullOverEndMark == PullOverEndMark.None ||
Settings.PullOverEndMark == PullOverEndMark.OpenCloseDoorCheck))
{
StopCore();
return;
}
if (!OpenDoorTime.HasValue)
{
OpenDoorTime = DateTime.Now;
}
//开车门维持3秒
if (OpenDoorTime.HasValue && (DateTime.Now - OpenDoorTime.Value).TotalSeconds > 3 &&
signalInfo.Sensor.Door && isCheckOverOpendoor == false)
{
isCheckOverOpendoor = true;
Speaker.PlayAudioAsync("请下车", SpeechPriority.High);
}
if (!signalInfo.Sensor.Door && isCheckOverOpendoor)
{
PullOverStepState = PullOverStep.CloseDoor;
Messenger.Send(new DoorChangedMessage(signalInfo.Sensor.Door));
StopCore();
return;
}
//在规定的时间内没有关闭车门
if (CloseDoorTimeOut() && isCheckOverOpendoor)
{
BreakRule(DeductionRuleCodes.RC40605);
StopCore();
}
}
}