From 1c65b7752e8ce07c6b028e7cd1fdc44821e80790 Mon Sep 17 00:00:00 2001
From: Glz <354338225@qq.com>
Date: Sun, 24 Mar 2024 16:07:39 +0800
Subject: [PATCH] =?UTF-8?q?=E9=81=BF=E9=9A=9C=E4=BF=AE=E6=94=B9?=
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---
 app/gl_barrier.c | 45 +++++++++++++++++++++++++++++++++++++--------
 app/gl_data.c    |  2 ++
 app/gl_data.h    |  2 ++
 app/gl_state.c   |  2 +-
 4 files changed, 42 insertions(+), 9 deletions(-)

diff --git a/app/gl_barrier.c b/app/gl_barrier.c
index c9992bc..1a26d6b 100644
--- a/app/gl_barrier.c
+++ b/app/gl_barrier.c
@@ -14,24 +14,53 @@ void CheckBarrier() {
 }
 
 void RunBarrier() {
-  if (barrier_type == BARRIER_LEFT_BEGIN) // 左环开始，寻外直道右线
+  if (barrier_type == BARRIER_LEFT_BEGIN) 
   {
     track_type = TRACK_RIGHT;
+    if (Lpt0_found) 
+    {
+      Lpt0_found_count++;
+    }
+    if (Lpt0_found_count >= 1) 
+    {
+      Lpt0_found_count = 0;
+      barrier_type = BARRIER_LEFT_RUNNING;
+      track_type = TRACK_RIGHT;
+    }
   }
-  else if (barrier_type == BARRIER_LEFT_BEGIN && ((Lpt0_found_barrier && is_straight1) || Lpt0_found) )
+  else if (barrier_type == BARRIER_LEFT_RUNNING)
   {
-   barrier_type = BARRIER_NONE;
-   track_type = TRACK_RIGHT;
+    track_type = TRACK_RIGHT;
+    if (Lpt0_found)
+    {
+      barrier_type = BARRIER_NONE;
+      track_type = TRACK_RIGHT;
+    }
   }
+  
 
-  if (barrier_type == BARRIER_RIGHT_BEGIN) // 左环开始，寻外直道右线
+  if (barrier_type == BARRIER_RIGHT_BEGIN) 
   {
     track_type = TRACK_LEFT;
+    if (Lpt1_found) 
+    {
+      Lpt1_found_count++;
+    }
+    if (Lpt1_found_count >= 1) 
+    {
+      Lpt1_found_count = 0;
+      barrier_type = BARRIER_RIGHT_RUNNING;
+      track_type = TRACK_LEFT;
+    }
   }
-  else if (barrier_type == BARRIER_RIGHT_BEGIN && ((Lpt1_found_barrier && is_straight0) || Lpt1_found) )
+  else if (barrier_type == BARRIER_RIGHT_RUNNING)
   {
-   barrier_type = BARRIER_NONE;
-   track_type = TRACK_LEFT;
+    track_type = TRACK_LEFT;
+    if (Lpt1_found)
+    {
+      barrier_type = BARRIER_NONE;
+      track_type = TRACK_LEFT;
+    }
   }
  
 }
diff --git a/app/gl_data.c b/app/gl_data.c
index 2e9479c..76a1bc9 100644
--- a/app/gl_data.c
+++ b/app/gl_data.c
@@ -33,6 +33,8 @@ float pts_resample_left[PT_MAXLEN][2];
 float pts_resample_right[PT_MAXLEN][2];
 int32_t pts_resample_left_count;
 int32_t pts_resample_right_count;
+int32_t Lpt0_found_count;
+int32_t Lpt1_found_count;
 float pts_far_resample_left[PT_MAXLEN][2];
 float pts_far_resample_right[PT_MAXLEN][2];
 int32_t pts_far_resample_left_count;
diff --git a/app/gl_data.h b/app/gl_data.h
index 55c4bc8..a3aaa8d 100644
--- a/app/gl_data.h
+++ b/app/gl_data.h
@@ -111,6 +111,8 @@ 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 int32_t Lpt0_found_count;
+extern int32_t Lpt1_found_count;
 
 extern bool is_turn0;
 extern bool is_turn1;
diff --git a/app/gl_state.c b/app/gl_state.c
index 6ec18f9..a489a08 100644
--- a/app/gl_state.c
+++ b/app/gl_state.c
@@ -5,5 +5,5 @@ enum state_type_e state_type =0;
 float cricle_aim=0.2f;
 float cross_aim=0.49f;
 float common_aim=0.35f; 
-float barrier_aim=0.1f;
+float barrier_aim=0.5f;
 float barrier_offset=4.0f;
\ No newline at end of file