protected override void ExecuteCore(CarSignalInfo signalInfo)
{
///停车不检测角度
if (signalInfo.CarState == CarState.Stop)
{
return;
}
//过滤10m
if (!isOverPrepareDistance)
{
if (signalInfo.Distance - StartChangeLanesDistance < Settings.ChangeLanesPrepareDistance)
{
return;
}
else
{
isOverPrepareDistance = true;
StartChangeLanesAngle = signalInfo.BearingAngle;
return;
}
}
//变更车道超时
if (IsTimeOut())
{
if (!IsSuccess)
{
BreakRule(DeductionRuleCodes.RC40503);
}
StopCore();
return;
}
//变更车道超距
if (IsOverDistance(signalInfo))
{
if (!IsSuccess)
{
BreakRule(DeductionRuleCodes.RC40503);
}
StopCore();
return;
}
if (IsLightChecked == false && IsSuccess == false)
{
if (signalInfo.Sensor.RightIndicatorLight)
{
IsLightChecked = true;
CheckRule(true, DeductionRuleCodes.RC30205, DeductionRuleCodes.SRC3020503);
}
}
Logger.InfoFormat("变道流程状态： {0}", StepState.ToString());
if (Settings.ChangeLanesAngle > 0)
{
if (StepState == ChangeLanesStep.None)
{
//判断车辆是否在进行变道
if (signalInfo.BearingAngle.IsValidAngle() &&
StartChangeLanesAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(signalInfo.BearingAngle, StartChangeLanesAngle, Settings.ChangeLanesAngle))
{
StepState = ChangeLanesStep.StartChangeLanes;
ChangeLanesStartTime = DateTime.Now;
}
}
else if (StepState == ChangeLanesStep.StartChangeLanes)
{
StepState = ChangeLanesStep.EndChangeLanes;
if (Settings.ChangeLanesLightCheck && IsLightChecked == false)
{
IsLightChecked = true;
//是否打转向灯
var hasTurnLight = CarSignalSet.Query(StartChangeLanesTime).Any(d => d.Sensor.LeftIndicatorLight);
if (!hasTurnLight)
{
CheckRule(true, DeductionRuleCodes.RC30205, DeductionRuleCodes.SRC3020503);
}
else
{
//转向灯是否超过3秒
var hasIndicatorLight = AdvancedSignal.CheckOperationAheadSeconds(x => x.Sensor.LeftIndicatorLight, StartTime, Settings.TurnLightAheadOfTime);
if (hasIndicatorLight)
{
return;
}
BreakRule(DeductionRuleCodes.RC30206, DeductionRuleCodes.SRC3020603);
}
}
}
else
{
IsSuccess = true;
//完成变道，结束该项目
return;
//StopCore();
}
}
else if (Settings.ChangeLanesAngle == 0)
{
IsSuccess = true;
}
base.ExecuteCore(signalInfo);
}
protected override void ExecuteCore(CarSignalInfo signalInfo)
{
if (Constants.ChangeLaneDistance == 0)
{
Constants.ChangeLaneDistance = signalInfo.Distance;
}
if (stopDelayDistance.HasValue)
{
if ((signalInfo.Distance - stopDelayDistance.Value) > 10)
{
StopCore();
}
}
if (signalInfo.CarState == CarState.Stop)
{
return;
}
//播报第2次语音
if (IsSecondVoice == false && !string.IsNullOrEmpty(Settings.ChangeLanesSecondVoice) && Settings.ChangeLanesPrepareDistance > 1)
{
IsSecondVoice = true;
Speaker.PlayAudioAsync(Settings.ChangeLanesSecondVoice, SpeechPriority.Normal);
}
//过滤10m
if (!isOverPrepareDistance)
{
if (signalInfo.Distance - StartChangeLanesDistance < Settings.ChangeLanesPrepareDistance)
{
return;
}
else
{
isOverPrepareDistance = true;
StartChangeLanesAngle = signalInfo.BearingAngle;
return;
}
}
//不要超时避免误判
//不要吵
//if (IsTimeOut())
//{
// if (!IsSuccess)
// {
// BreakRule(DeductionRuleCodes.RC40503);
// }
// StopCore();
// return;
//}
//变更车道超距
if (IsOverDistance(signalInfo))
{
if (!IsSuccess)
{
BreakRule(DeductionRuleCodes.RC40503);
}
StopCore();
return;
}
Logger.InfoFormat("变道流程状态： {0}", StepState.ToString());
//Logger.Error("变道流程状态"+StepState.ToString()+"ChangeLanes" + signalInfo.BearingAngle.ToString()+ "StartChangeLanesAngle:"+ StartChangeLanesAngle.ToString()+ "Settings.ChangeLanesAngle:" + Settings.ChangeLanesAngle.ToString());
if (Settings.ChangeLanesAngle > 0)
{
if (StepState == ChangeLanesStep.None)
{
//变道摆正10米后才进行下面的检测(转向灯评判太快，车还没摆正)
if (ChangeStartDistance.HasValue)
{
if (signalInfo.Distance - ChangeStartDistance.Value > Settings.ChangeLanesPrepareDistance)
{
StepState = ChangeLanesStep.StartChangeLanes;
}
}
//判断车辆是否在进行变道
if (signalInfo.BearingAngle.IsValidAngle() &&
StartChangeLanesAngle.IsValidAngle() &&
!GeoHelper.IsBetweenDiffAngle(signalInfo.BearingAngle, StartChangeLanesAngle, Settings.ChangeLanesAngle))
{
StepState = ChangeLanesStep.StartChangeLanes;
ChangeStartDistance = signalInfo.Distance;
ChangeLanesStartTime = DateTime.Now;
}
}
else if (StepState == ChangeLanesStep.StartChangeLanes)
{
StepState = ChangeLanesStep.EndChangeLanes;
if (Settings.ChangeLanesLightCheck)
{
//只能左转
if (Settings.ChangelineDirect.Equals(1))
{
//是否打转向灯
var hasTurnLight = CarSignalSet.Query(StartChangeLanesTime).Any(d => d.Sensor.LeftIndicatorLight);
var hasErrorLight = CarSignalSet.Query(StartChangeLanesTime).Any(d => d.Sensor.RightIndicatorLight);
if (!hasTurnLight || hasErrorLight)
{
BreakRule(DeductionRuleCodes.RC30205, DeductionRuleCodes.SRC3020503);
}
else
{
//转向灯是否超过3秒
var hasIndicatorLight = AdvancedSignal.CheckOperationAheadSeconds(x => x.Sensor.LeftIndicatorLight, StartTime, Settings.TurnLightAheadOfTime);
if (hasIndicatorLight)
{
return;
}
BreakRule(DeductionRuleCodes.RC30206, DeductionRuleCodes.SRC3020603);
}
}//只能右转
else if (Settings.ChangelineDirect.Equals(2))
{
//是否打转向灯
var hasTurnLight = CarSignalSet.Query(StartChangeLanesTime).Any(d => d.Sensor.RightIndicatorLight);
var hasErrorLight = CarSignalSet.Query(StartChangeLanesTime).Any(d => d.Sensor.LeftIndicatorLight);
if (!hasTurnLight || hasErrorLight)
{
BreakRule(DeductionRuleCodes.RC30205, DeductionRuleCodes.SRC3020503);
}
else
{
//转向灯是否超过3秒
var hasIndicatorLight = AdvancedSignal.CheckOperationAheadSeconds(x => x.Sensor.RightIndicatorLight, StartTime, Settings.TurnLightAheadOfTime);
if (hasIndicatorLight)
{
return;
}
BreakRule(DeductionRuleCodes.RC30206, DeductionRuleCodes.SRC3020603);
}
}
else
{
//是否打转向灯
var hasTurnLight = CarSignalSet.Query(StartChangeLanesTime).Any(d => d.Sensor.LeftIndicatorLight || d.Sensor.RightIndicatorLight);
if (!hasTurnLight)
{
BreakRule(DeductionRuleCodes.RC30205, DeductionRuleCodes.SRC3020503);
}
else
{
//转向灯是否超过3秒
var hasIndicatorLight = AdvancedSignal.CheckOperationAheadSeconds(x => x.Sensor.LeftIndicatorLight || x.Sensor.RightIndicatorLight, StartTime, Settings.TurnLightAheadOfTime);
if (hasIndicatorLight)
{
return;
}
BreakRule(DeductionRuleCodes.RC30206, DeductionRuleCodes.SRC3020603);
}
}
}
}
else
{
IsSuccess = true;
//完成变道，结束该项目
if (Settings.ChkChangeLanesEndFlag && !stopDelayDistance.HasValue)
{
stopDelayDistance = signalInfo.Distance;
}
return;
}
}
else if (Settings.ChangeLanesAngle == 0)
{
IsSuccess = true;
}
base.ExecuteCore(signalInfo);
}