From 07b520985386c4d0b516d73707750aca2d919af9 Mon Sep 17 00:00:00 2001
From: Glz <354338225@qq.com>
Date: Sat, 23 Mar 2024 09:15:53 +0800
Subject: [PATCH] =?UTF-8?q?=E5=86=85=E8=A7=92=E7=82=B9=E5=AE=9E=E7=8E=B0?=
 =?UTF-8?q?=E4=B8=8E=E5=B8=B8=E8=A7=84=E6=9B=B4=E6=94=B9?=
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---
 app/gl_cross.c       |  8 ++++----
 app/gl_data.c        |  4 ++++
 app/gl_data.h        |  4 ++++
 app/gl_get_corners.c | 17 ++++++++++++++++-
 app/gl_tracking.c    |  5 +++++
 5 files changed, 33 insertions(+), 5 deletions(-)

diff --git a/app/gl_cross.c b/app/gl_cross.c
index 497ffe9..ed53ec2 100644
--- a/app/gl_cross.c
+++ b/app/gl_cross.c
@@ -69,9 +69,9 @@ void cross_farline(){
         }   
     }
     /*如果一行全为白色没写*/
-    if (far_x1 <= 40)
+    if (far_x1 <= 30)
     {
-        far_x1 = 40;
+        far_x1 = 30;
     }
 
     for (; h1 > 0; h1--) {
@@ -98,9 +98,9 @@ void cross_farline(){
         }   
     }
     /*如果一行全为白色没写*/
-    if (far_x2 >= 140)
+    if (far_x2 >= 120)
     {
-        far_x2 = 140;
+        far_x2 = 120;
     }
 
     for (; h2 > 0; h2--) {
diff --git a/app/gl_data.c b/app/gl_data.c
index 07cf8d5..2e9479c 100644
--- a/app/gl_data.c
+++ b/app/gl_data.c
@@ -80,6 +80,8 @@ bool Lpt0_found;
 bool Lpt1_found;
 bool Lpt0_found_barrier;
 bool Lpt1_found_barrier;
+bool Lpt0_found_barrier_in;
+bool Lpt1_found_barrier_in;
 int Lpt1[2];
 int Lpt0[2];
 int far_Lpt1[2];
@@ -91,6 +93,8 @@ bool Lpt_in0_found;
 bool Lpt_in1_found;
 int Lpt_in1[2];
 int Lpt_in0[2];
+int Lpt0_found_barrier_in_id;
+int Lpt1_found_barrier_in_id;
 
 bool is_straight0;
 bool is_straight1;
diff --git a/app/gl_data.h b/app/gl_data.h
index 4d53dd7..55c4bc8 100644
--- a/app/gl_data.h
+++ b/app/gl_data.h
@@ -107,6 +107,10 @@ extern bool is_straight0;
 extern bool is_straight1;
 extern bool is_far_straight0;
 extern bool is_far_straight1;
+extern bool Lpt0_found_barrier_in;
+extern bool Lpt1_found_barrier_in;
+extern int Lpt0_found_barrier_in_id;
+extern int Lpt1_found_barrier_in_id;
 
 extern bool is_turn0;
 extern bool is_turn1;
diff --git a/app/gl_get_corners.c b/app/gl_get_corners.c
index 9d24e3a..686113f 100644
--- a/app/gl_get_corners.c
+++ b/app/gl_get_corners.c
@@ -43,8 +43,15 @@ void get_corners() {
             Lpt0_rpts0s_id_barrier = i;
             Lpt0_found_barrier = true;
         }
-
     }
+    // if(Lpt0_found_barrier){
+    //     float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id_barrier][1],pts_resample_left[Lpt0_rpts0s_id_barrier][0],pts_resample_left[Lpt0_rpts0s_id_barrier+5][1],pts_resample_left[Lpt0_rpts0s_id_barrier+5][0]);
+    //     if(angle1 < 85.)    {
+    //         Lpt0_found_barrier_in = true;
+    //         Lpt0_found_barrier = false;
+    //         Lpt0_found_barrier_in_id = Lpt0_rpts0s_id_barrier;
+    //     }
+    // }
 
 
 
@@ -82,6 +89,14 @@ void get_corners() {
             Lpt1_found_barrier = true;
         }
     }
+    // if(Lpt1_found_barrier){
+    //     float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id_barrier][1],pts_resample_right[Lpt1_rpts1s_id_barrier][0],pts_resample_right[Lpt1_rpts1s_id_barrier+5][1],pts_resample_right[Lpt1_rpts1s_id_barrier+5][0]);
+    //     if(angle2 > 100.)   {
+    //         Lpt1_found_barrier_in = true;
+    //         Lpt1_found_barrier = false;
+    //         Lpt1_found_barrier_in_id = Lpt1_rpts1s_id_barrier;
+    //     }
+    // }
     
 
 }
diff --git a/app/gl_tracking.c b/app/gl_tracking.c
index 56edb62..a911ef9 100644
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -47,6 +47,11 @@ void ElementJudge()
         cross_type  = CROSS_NONE;
         circle_type = CIRCLE_NONE;
     }
+    if (cross_type != CROSS_NONE)
+    {
+        circle_type = CIRCLE_NONE;
+    }
+    
 }
 
 void ElementRun()