/// <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();
}
}
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();
}
}
}
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);
}
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);
}
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
//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();
}
}
}