增加弯道状态

app/gl_garage.c

@@ -19,6 +19,25 @@ float calculate_vector_angle(float x1, float y1, float x2, float y2)
     return angle_degrees;
 }
 
+// void CheckGarage()
+// {
+//     int change_num     = 0;
+//     int check_garage_h = 60;
+//     for (int check_garage_w = 50; check_garage_w < IMAGE_W - 50; check_garage_w++) {
+//         if ((GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) < FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) >= FIX_BINTHRESHOLD) ||
+//             (GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) >= FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) < FIX_BINTHRESHOLD)) {
+//             change_num++;
+//         }
+//     }
+
+//     if (change_num > 14) {
+//         garage_type = GARAGE_FOUND;
+//         // printf("跳变点的数量为：%d\r\n", change_num);
+//     }
+
+//     change_num = 0;
+// }
+
 void CheckGarage()
 {
     int change_num     = 0;

app/gl_get_corners.c

@@ -29,6 +29,11 @@ void get_corners() {
     if(is_straight0){
         state_type = STRAIGHT_STATE;
     }
+    if (is_straight0 == false && Lpt0_found == false)
+    {
+        is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
+    }
+    
 
 
     Lpt0_found_barrier = Lpt1_found_barrier = false;
@@ -77,6 +82,10 @@ void get_corners() {
     if(is_straight1){
         state_type = STRAIGHT_STATE;
     }
+    if (is_straight1 == false && Lpt1_found == false)
+    {
+        is_turn1 = is_curve(angle_right ,clip(angle_right_num - 10, 0,angle_right_num),0.05);
+    }
 
     for (int i = 0; i < pts_resample_right_count; i++) {
         if (angle_new_right_barrier[i] == 0) continue;
@@ -98,6 +107,12 @@ void get_corners() {
             Lpt1_found_barrier_in_id = Lpt1_rpts1s_id_barrier;
         }
     }
+
+    if (is_turn0 && is_turn1)
+    {
+        state_type = TURN_STATE;
+    }
+    
     
 
 }

app/gl_state.h

@@ -3,21 +3,8 @@
 
 enum state_type_e {
     COMMON_STATE = 0,
-    CROSS_STATE,
-    HALF_STATE,
-    CIRCLE_IN_STATE,
-    CIRCLE_BEGIN_STATE,
-    CIRCLE_RUNNING_STATE,
-    CIRCLE_OUT_STATE,
     TURN_STATE,
     STRAIGHT_STATE,
-    BREAK_STATE,
-    BAR_STATE,
-    RAMP_STATE,
-    GARAGE_OUT_STATE,
-    GARAGE_IN_STATE,
-    GARAGE_STOP_STATE,
-    GARAGE_PASS_STATE,
 };
 
 extern enum state_type_e state_type;