日常更新

app/gl_barrier.c

@@ -2,7 +2,13 @@
 #include "gl_headfile.h"
 
 enum barrier_type_e barrier_type = BARRIER_NONE;
+enum s_type_e s_type = S_NONE;
 uint16 time_barrier;
+float (*mid_track_s)[2];
+int32_t mid_track_count_s;
+int temp_min_s;
+int temp_max_s;
+
 void CheckBarrier()
 {
     if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
@@ -61,3 +67,49 @@ void RunBarrier()
         }
     }
 }
+
+
+void Check_s(){
+    if (track_type == TRACK_LEFT) {
+        mid_track_s       = mid_left;
+        mid_track_count_s = mid_left_count;
+    } else {
+        mid_track_s       = mid_right;
+        mid_track_count_s = mid_right_count;
+    }
+
+    int min_s = 1000;
+    int max_s = 1;
+
+    for (int i = 0; i < mid_track_count_s; i++)
+    {
+        if (mid_track_s[i][1] < min_s)
+        {
+            min_s = mid_track_s[i][1];
+            temp_min_s = min_s;
+        }
+        if (mid_track_s[i][1] > max_s)
+        {
+            max_s = mid_track_s[i][1];
+            temp_max_s = max_s;
+        }
+        
+    }
+    
+
+    if (is_straight0 == false && is_straight1 == false && (max_s - min_s) <= 30 && (max_s - min_s) >= 5)
+    {
+        s_type = S_BEGIN;
+    }
+    
+}
+
+
+void RunS(){
+
+    if (temp_max_s - temp_min_s >30 || (is_straight0 && is_straight1))
+    {
+        s_type = S_NONE;
+    }
+    
+}