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创建目录软链接：实现junction点与软链接映射技术

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SanYe
348B | 更新于2024-11-20 | 46 浏览量 | 0 下载量 举报 收藏
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资源摘要信息:"junction point/soft link/reparse point 创建目录软链接， 实现 junction 在计算机操作系统中，软链接（也称为符号链接或symlink）、junction point（目录连接点）和 reparse point 是一种特殊类型的文件系统对象，它们为用户提供了在文件系统中创建间接引用的能力。具体来说，这些技术允许用户通过一个别名来访问、操作原文件或目录，从而实现复杂的文件系统结构设计。 ### 软链接（符号链接） 软链接是一种特殊的文件，它包含有一个文本字符串，这个字符串是一个到另一个文件或目录的路径。用户通过软链接访问的是该路径所指向的原始文件或目录，而非软链接本身。如果原始文件或目录被删除，软链接会变成一个悬空链接，不再指向任何有效的文件系统对象。 ### Junction Point（目录连接点） 目录连接点是Windows系统特有的技术，它允许一个目录被连接到另一个目录。这不同于简单的文件重命名或复制，因为连接点创建的是一个透明的目录连接，用户访问连接点目录时，系统会将它们重定向到目标目录，但对于应用程序来说，这一过程是完全透明的。junction point通常用于简化大型文件系统的管理。 ### Reparse Point（重解析点） 重解析点是更广泛的概念，它是一个包含了文件系统控制数据的文件或目录。这种控制数据可以告诉文件系统在访问该文件或目录时需要采取额外的处理步骤。junction point 和 mount point（挂载点）都是重解析点的具体实例。重解析点机制是Windows NTFS文件系统的一个高级特性。 ### junction命令的实现 本源码实现了junction命令的功能，这是sysinternals suite工具集中的一个组件。junction命令允许用户创建junction point，也就是目录链接，能够把一个目录映射到文件系统的任意位置。使用junction点后，用户操作映射目录时，实际上是在操作原始目录。这对于管理和维护复杂的文件系统结构非常有用。 例如，如果有一个非常大的目录结构位于服务器上，而该目录被多个部门频繁访问，使用junction可以将该目录的不同部分映射到部门本地的网络驱动器，这样可以减少网络流量，提升访问速度。 ### SanYe标签 “SanYe”标签可能指代源码的作者或者是该源码项目的名称。在上下文中，由于缺乏更多详细信息，无法确定其确切含义。 ### 压缩包子文件的文件名称列表 在给定文件信息中提到的"压缩包子文件"可能是指包含上述资源的压缩文件，而"content.txt"则是压缩包内一个文件的名称。此文件可能是源码的说明文档，或者包含有关如何使用该源码的具体信息。由于文件列表中只有一个文件名，无法提供更多关于其他文件的信息。"

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using System.Collections.Generic; using System.Linq; using UnityEngine; using UnityEngine.AI; using TMPro; using static ControlTheSceneXF; public class PathManager : MonoBehaviour { [Header("寻路设置")] public GameObject mainArrowPrefab; // 主箭头预制体 public GameObject secondaryArrowPrefab; // 辅助箭头预制体 public float moveSpeed = 3.5f; // 箭头移动速度 public float arrivalThreshold = 1f; // 到达点的阈值距离 public float pathHeight = 0.5f; // 路径离地面的高度 private bool isUpdate = false; [Header("路径查找设置")] public float secondaryPathRange = 2.0f; // 辅助路径查找范围 public int maxJunctionsPerSegment = 3; // 每段路径最多添加的路口点数量 [Header("寻路标签设置")] public string pathPointTag = "PathPoint"; // 路径点标签 public string junctionPointTag = "JunctionPoint"; // 路口点标签 public LayerMask pathPointLayer; // 路径点Layer public bool useTagInsteadOfLayer = true; // 使用标签而不是Layer [Header("路径可视化")] public bool showPathsInGame = true; // 是否显示路径 public Material mainPathMaterial; // 主路径材质 public Material secondaryPathMaterial; // 辅助路径材质 public float pathWidth = 0.2f; // 路径宽度 [Header("显示调试Gizmos")] public bool showDebugGizmos = true; // 显示调试Gizmos public bool logDebugInfo = true; // 打印调试信息 public float navMeshSampleDistance = 5f; // 导航网格采样距离 // 路径数据 private List<Transform> pathPoints = new List<Transform>(); private List<ArrowController> activeArrows = new List<ArrowController>(); private Dictionary<ArrowController, LineRenderer> arrowPathRenderers = new Dictionary<ArrowController, LineRenderer>(); private Dictionary<Vector3, List<Vector3>> junctionConnections = new Dictionary<Vector3, List<Vector3>>(); // 主路径和辅助路径 private List<Vector3> mainPath = new List<Vector3>(); private Dictionary<Vector3, List<List<Vector3>>> secondaryPaths = new Dictionary<Vector3, List<List<Vector3>>>(); private ArrowController mainArrow; void Update() { // 更新所有箭头 foreach (var arrow in activeArrows.ToArray()) { if (arrow != null) { arrow.UpdateMovement(); // 更新路径渲染 if (showPathsInGame && arrowPathRenderers.ContainsKey(arrow)) { UpdatePathRenderer(arrow, arrowPathRenderers[arrow]); } // 检查主箭头是否到达路径点 if (arrow == mainArrow && mainPath.Count > 0) { int currentIndex = arrow.CurrentPathIndex; if (currentIndex >= 0 && currentIndex < mainPath.Count) { Vector3 pathPoint = mainPath[currentIndex]; float distance = Vector3.Distance(arrow.transform.position, pathPoint); // 当接近路径点时检查辅助路径 if (distance < arrivalThreshold * 1.5f) { // 检查并激活辅助路径 CheckAndActivateSecondaryPaths(pathPoint); } } } } else { if (arrowPathRenderers.ContainsKey(arrow)) { Destroy(arrowPathRenderers[arrow].gameObject); arrowPathRenderers.Remove(arrow); } activeArrows.Remove(arrow); } } } /// /// 更新路径渲染器，逐步绘制路径 /// void UpdatePathRenderer(ArrowController arrow, LineRenderer lineRenderer) { if (arrow == null || lineRenderer == null) return; // 获取箭头已经经过的路径点 int pointsToShow = Mathf.Min(arrow.CurrentPathIndex + 1, arrow.PathPoints.Count); if (pointsToShow < 2) return; // 创建临时列表存储要显示的点 List<Vector3> points = new List<Vector3>(); points.AddRange(arrow.PathPoints.GetRange(0, pointsToShow)); // 添加当前箭头位置作为最后一个点 points.Add(arrow.transform.position); // 更新LineRenderer lineRenderer.positionCount = points.Count; lineRenderer.SetPositions(points.ToArray()); } /// /// 收集所有路径点并按时间排序 /// void CollectPathPoints() { pathPoints.Clear(); List<Transform> allPathPoints = FindAllPathPoints(); if (allPathPoints.Count == 0) { Debug.LogError("没有找到路径点！"); enabled = false; return; } // 按时间排序路径点 pathPoints = allPathPoints .Where(p => p.GetComponent<GjImagePrefab>() != null) .OrderBy(p => p.GetComponent<GjImagePrefab>().GetTimeInMinutes()) .ToList(); } /// /// 查找场景中所有路径点 /// List<Transform> FindAllPathPoints() { List<Transform> points = new List<Transform>(); if (useTagInsteadOfLayer) { // 通过标签查找路径点 GameObject[] taggedObjects = GameObject.FindGameObjectsWithTag(pathPointTag); foreach (GameObject obj in taggedObjects) { points.Add(obj.transform); ValidatePointPosition(obj.transform); } // 通过标签查找路口点并构建连接图 GameObject[] junctionObjects = GameObject.FindGameObjectsWithTag(junctionPointTag); BuildJunctionConnectionGraph(junctionObjects); } else { // 通过Layer查找（略） } return points; } /// /// 构建路口连接图 /// void BuildJunctionConnectionGraph(GameObject[] junctions) { junctionConnections.Clear(); // 初始化连接图 foreach (var junction in junctions) { Vector3 pos = junction.transform.position; if (!junctionConnections.ContainsKey(pos)) { junctionConnections.Add(pos, new List<Vector3>()); } } // 添加连接 foreach (var junction in junctions) { JunctionPoint junctionComp = junction.GetComponent<JunctionPoint>(); if (junctionComp != null && junctionComp.connectedPoints != null) { Vector3 startPos = junction.transform.position; foreach (var connectedPoint in junctionComp.connectedPoints) { if (connectedPoint != null) { Vector3 endPos = connectedPoint.position; if (!junctionConnections[startPos].Contains(endPos)) { junctionConnections[startPos].Add(endPos); } // 确保双向连接 if (junctionConnections.ContainsKey(endPos) && !junctionConnections[endPos].Contains(startPos)) { junctionConnections[endPos].Add(startPos); } } } } } } /// /// 验证路径点是否在导航网格上 /// void ValidatePointPosition(Transform point) { NavMeshHit hit; if (!NavMesh.SamplePosition(point.position, out hit, navMeshSampleDistance, NavMesh.AllAreas)) { Debug.LogWarning($"路径点 '{point.name}' 不在导航网格上! 位置: {point.position}"); if (NavMesh.FindClosestEdge(point.position, out hit, NavMesh.AllAreas)) { point.position = hit.position; Debug.Log($"调整 '{point.name}' 到最近的导航网格点: {hit.position}"); } } } /// /// 计算主路径 /// public void CalculateMainPath() { mainPath.Clear(); secondaryPaths.Clear(); if (pathPoints.Count < 2) { Debug.LogWarning("路径点数不足"); return; } // 1. 计算基础路径 - 直接连接所有PathPoint的最短路径 mainPath = CalculatePathThroughAllPoints(pathPoints); if (mainPath == null || mainPath.Count < 2) { Debug.LogError("主路径计算失败！"); return; } // 2. 在关键路口点预计算辅助路径 PrecalculateSecondaryPaths(); } /// /// 预计算所有可能的分支路径（核心修改） /// void PrecalculateSecondaryPaths() { secondaryPaths.Clear(); // 遍历主路径上的每一段（从当前点到下一个点） for (int i = 0; i < mainPath.Count - 1; i++) { Vector3 currentPoint = mainPath[i]; Vector3 nextPoint = mainPath[i + 1]; // 计算当前段的直径范围 Vector3 segmentCenter = (currentPoint + nextPoint) / 2f; float segmentDiameter = Vector3.Distance(currentPoint, nextPoint); // 查找范围内的所有路口点 List<Vector3> nearbyJunctions = FindNearbyJunctions(segmentCenter, segmentDiameter * secondaryPathRange); if (logDebugInfo) Debug.Log($"主路径段 {i}: {currentPoint} -> {nextPoint}, 找到{nearbyJunctions.Count}个附近路口点"); List<List<Vector3>> alternatives = new List<List<Vector3>>(); // 尝试为每个路口点创建替代路径 foreach (var junction in nearbyJunctions) { // 跳过主路径点本身 if (junction == currentPoint || junction == nextPoint) continue; // 计算替代路径：当前点 -> 路口点 -> 下一个点 List<Vector3> altPath = CalculateAlternativePath(currentPoint, junction, nextPoint); if (altPath != null && altPath.Count > 1) { alternatives.Add(altPath); if (logDebugInfo) Debug.Log($"创建替代路径: {currentPoint} -> {junction} -> {nextPoint}, 点数: {altPath.Count}"); // 限制每段路径的最大分支数 if (alternatives.Count >= maxJunctionsPerSegment) break; } } if (alternatives.Count > 0) { // 使用当前点作为键存储替代路径 secondaryPaths[currentPoint] = alternatives; if (logDebugInfo) Debug.Log($"为点 {currentPoint} 添加 {alternatives.Count} 条替代路径"); } } } /// /// 查找范围内的路口点 /// List<Vector3> FindNearbyJunctions(Vector3 center, float radius) { List<Vector3> nearby = new List<Vector3>(); foreach (var junction in junctionConnections.Keys) { if (Vector3.Distance(junction, center) <= radius) { nearby.Add(junction); } } return nearby; } /// /// 计算替代路径（当前点 -> 路口点 -> 目标点） /// List<Vector3> CalculateAlternativePath(Vector3 start, Vector3 junction, Vector3 end) { // 计算三段路径 List<Vector3> pathToJunction = CalculatePath(start, junction); List<Vector3> pathFromJunctionToEnd = CalculatePath(junction, end); if (pathToJunction == null || pathToJunction.Count == 0 || pathFromJunctionToEnd == null || pathFromJunctionToEnd.Count == 0) { return null; } // 合并路径 List<Vector3> fullPath = new List<Vector3>(); fullPath.AddRange(pathToJunction); fullPath.AddRange(pathFromJunctionToEnd.Skip(1)); // 跳过重复点 return fullPath; } /// /// 检查并激活辅助路径 /// void CheckAndActivateSecondaryPaths(Vector3 junctionPoint) { if (!secondaryPaths.ContainsKey(junctionPoint)) { if (logDebugInfo) Debug.Log($"点 {junctionPoint} 没有预计算的辅助路径"); return; } // 获取该点的所有辅助路径 List<List<Vector3>> paths = secondaryPaths[junctionPoint]; if (logDebugInfo) Debug.Log($"在点 {junctionPoint} 找到 {paths.Count} 条辅助路径"); foreach (var path in paths) { if (path == null || path.Count < 2) { if (logDebugInfo) Debug.LogWarning("跳过无效的辅助路径"); continue; } // 检查是否已存在相同路径的箭头 bool pathExists = false; foreach (var arrow1 in activeArrows) { if (arrow1 == null || arrow1.IsMainArrow) continue; // 简单比较路径起点和终点 if (Vector3.Distance(arrow1.StartPosition, path[0]) < 0.1f && Vector3.Distance(arrow1.EndPosition, path[path.Count - 1]) < 0.1f) { pathExists = true; break; } } if (pathExists) { if (logDebugInfo) Debug.Log($"辅助路径已存在: {path[0]} -> {path[path.Count - 1]}"); continue; } // 创建辅助箭头 GameObject arrowObj = Instantiate(secondaryArrowPrefab, path[0], Quaternion.identity); ArrowController arrow = arrowObj.GetComponent<ArrowController>(); if (arrow == null) { arrow = arrowObj.AddComponent<ArrowController>(); } arrow.Initialize(this, path, false); // 设置箭头材质 var renderer = arrowObj.GetComponent<MeshRenderer>(); if (renderer != null && secondaryPathMaterial != null) { renderer.material = secondaryPathMaterial; } activeArrows.Add(arrow); // 创建辅助路径渲染器 if (showPathsInGame) { CreatePathRenderer(arrow, path, secondaryPathMaterial); } if (logDebugInfo) Debug.Log($"创建辅助路径箭头: {path[0]} -> {path[path.Count - 1]}, 点数: {path.Count}"); } } /// /// 计算经过所有路径点的完整路径 /// List<Vector3> CalculatePathThroughAllPoints(List<Transform> points) { if (points.Count < 2) return null; List<Vector3> fullPath = new List<Vector3>(); for (int i = 0; i < points.Count - 1; i++) { Vector3 start = points[i].position; Vector3 end = points[i + 1].position; // 计算两点之间的路径 List<Vector3> segment = CalculatePath(start, end); if (segment == null || segment.Count == 0) { Debug.LogWarning($"路径段 {i} 计算失败，在 {points[i].name} 和 {points[i + 1].name} 之间"); return null; } // 如果是第一个段，添加全部点 if (i == 0) { fullPath.AddRange(segment); } else { // 移除重复点（上一段的终点） if (fullPath.Count > 0) fullPath.RemoveAt(fullPath.Count - 1); fullPath.AddRange(segment); } } return fullPath; } /// /// 计算两点之间的导航路径 /// List<Vector3> CalculatePath(Vector3 startPos, Vector3 endPos) { NavMeshHit hitStart, hitEnd; if (!NavMesh.SamplePosition(startPos, out hitStart, navMeshSampleDistance, NavMesh.AllAreas) || !NavMesh.SamplePosition(endPos, out hitEnd, navMeshSampleDistance, NavMesh.AllAreas)) { Debug.LogError($"点不在导航网格上！起点: {startPos}, 终点: {endPos}"); return null; } NavMeshPath navPath = new NavMeshPath(); if (!NavMesh.CalculatePath(hitStart.position, hitEnd.position, NavMesh.AllAreas, navPath)) { Debug.LogError($"路径计算失败！起点: {startPos}, 终点: {endPos}"); return null; } // 调整路径高度 List<Vector3> adjustedPath = new List<Vector3>(); foreach (Vector3 point in navPath.corners) { adjustedPath.Add(new Vector3(point.x, point.y + pathHeight, point.z)); } return adjustedPath; } /// /// 创建主箭头 /// void CreateMainArrow() { if (mainArrowPrefab == null) { Debug.LogError("未设置主箭头预制体！"); return; } // 清除现有箭头 foreach (var arrow in activeArrows) if (arrow != null) Destroy(arrow.gameObject); activeArrows.Clear(); foreach (var renderer1 in arrowPathRenderers.Values) if (renderer1 != null) Destroy(renderer1.gameObject); arrowPathRenderers.Clear(); if (mainPath == null || mainPath.Count == 0) return; // 创建主箭头 GameObject arrowObj = Instantiate(mainArrowPrefab, mainPath[0], Quaternion.identity); mainArrow = arrowObj.GetComponent<ArrowController>(); if (mainArrow == null) { mainArrow = arrowObj.AddComponent<ArrowController>(); } mainArrow.Initialize(this, mainPath, true); // 设置箭头材质 var renderer = arrowObj.GetComponent<MeshRenderer>(); if (renderer != null && mainPathMaterial != null) { renderer.material = mainPathMaterial; } activeArrows.Add(mainArrow); // 创建主路径渲染器 if (showPathsInGame) { CreatePathRenderer(mainArrow, mainPath, mainPathMaterial); } } /// /// 创建路径渲染器 /// void CreatePathRenderer(ArrowController arrow, List<Vector3> path, Material material) { if (path == null || path.Count < 2) return; GameObject pathObj = new GameObject("PathRenderer"); pathObj.transform.SetParent(transform); LineRenderer lineRenderer = pathObj.AddComponent<LineRenderer>(); lineRenderer.material = material; lineRenderer.startWidth = pathWidth; lineRenderer.endWidth = pathWidth; lineRenderer.useWorldSpace = true; // 初始只设置第一个点 lineRenderer.positionCount = 1; lineRenderer.SetPosition(0, path[0]); arrowPathRenderers[arrow] = lineRenderer; } /// /// 手动重新计算路径 /// public void RecalculatePaths() { isUpdate = true; ClearAllPaths(); CollectPathPoints(); CalculateMainPath(); CreateMainArrow(); } /// /// 清除所有路径和箭头 /// public void ClearAllPaths() { isUpdate = false; foreach (var arrow in activeArrows) if (arrow != null) Destroy(arrow.gameObject); activeArrows.Clear(); pathPoints.Clear(); junctionConnections.Clear(); mainPath.Clear(); secondaryPaths.Clear(); } void OnDrawGizmos() { if (!showDebugGizmos) return; // 绘制路径点 Gizmos.color = Color.cyan; foreach (Transform point in pathPoints) { Gizmos.DrawSphere(point.position, 0.5f); Gizmos.DrawWireSphere(point.position, navMeshSampleDistance); } // 绘制路口点 Gizmos.color = Color.magenta; foreach (var junction in junctionConnections.Keys) { Gizmos.DrawSphere(junction, 0.3f); // 绘制路口连接 if (junctionConnections.ContainsKey(junction)) { foreach (var connectedPoint in junctionConnections[junction]) { Gizmos.DrawLine(junction, connectedPoint); } } } // 绘制主路径 if (mainPath.Count > 1) { Gizmos.color = Color.green; for (int i = 1; i < mainPath.Count; i++) { Gizmos.DrawLine(mainPath[i - 1], mainPath[i]); } } // 绘制辅助路径 Gizmos.color = Color.yellow; foreach (var kvp in secondaryPaths) { foreach (var path in kvp.Value) { for (int i = 1; i < path.Count; i++) { Gizmos.DrawLine(path[i - 1], path[i]); } } } } } using System.Collections.Generic; using TMPro; using UnityEngine; public class ArrowController : MonoBehaviour { private List<Vector3> currentPath; private int currentCornerIndex = 0; private float moveSpeed; private float arrivalThreshold; private bool isMainArrow; private PathManager pathManager; private List<Vector3> pathPoints; // Public properties for path checking public bool IsMainArrow => isMainArrow; public Vector3 StartPosition => pathPoints != null && pathPoints.Count > 0 ? pathPoints[0] : Vector3.zero; public Vector3 EndPosition => pathPoints != null && pathPoints.Count > 0 ? pathPoints[pathPoints.Count - 1] : Vector3.zero; public List<Vector3> PathPoints => pathPoints; public int CurrentPathIndex => currentCornerIndex; public void Initialize(PathManager manager, List<Vector3> path, bool isMain) { pathPoints = new List<Vector3>(path); // Store a copy of the path points pathManager = manager; moveSpeed = manager.moveSpeed; arrivalThreshold = manager.arrivalThreshold; isMainArrow = isMain; SetPath(path); } public void SetPath(List<Vector3> path) { currentPath = path; currentCornerIndex = 0; if (currentPath != null && currentPath.Count > 0) transform.position = currentPath[0]; } public void UpdateMovement() { if (currentPath == null || currentPath.Count == 0) return; // Reached end of path if (currentCornerIndex >= currentPath.Count) { // Secondary arrows disappear when reaching the end if (!isMainArrow) { Destroy(gameObject); } else { // Main arrow loops currentCornerIndex = 0; transform.position = currentPath[0]; } return; } Vector3 targetPoint = currentPath[currentCornerIndex]; transform.position = Vector3.MoveTowards(transform.position, targetPoint, moveSpeed * Time.deltaTime); // Update arrow direction if (transform.position != targetPoint) { Vector3 direction = -(targetPoint - transform.position).normalized; if (direction != Vector3.zero) { transform.rotation = Quaternion.LookRotation(direction); } } // Check if reached current waypoint if (Vector3.Distance(transform.position, targetPoint) <= arrivalThreshold) currentCornerIndex++; } } 这两个脚本你给我修改一下，首先是主路径一定要结合navigation，先看从起点到终点的最短路线（这个不需要划线），然后把这条路线左右一定范围内的路口点和途径点用线条连接起来作为主路径线条（划线要）不论是主路径线条还是辅助路径线条都要结合navigation；另外当路径开始规划的时候，辅助路线不能走除了主路径的当前点和下一个点，辅助路径也不能走主路径已经走过的路口点的一定范围，也就是说，除了去到主路径的下一个路口点的周围外，主路径线条的左右一定范围内是没有辅助路径的，你给我修改一下，完整的脚本代码和中文注释给我

用户想要修改Unity寻路脚本以实现两个功能：1.主路径基于Navigation计算最短路径，并在一定范围内绘制主路径线条；2.辅助路径仅限于主路径当前点与下一点的范围，且不能经过主路径已走过的路口点范围。用户提供了几...
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void SdNavigationHighway::ManageJunctionEvent(int ¤t_target_junction_index) { current_target_junction_index = -1; /// 基于历史更新本周期的passed int last_passed_junction_index = -1; if (JunctionEvent_last_passed_junction_id_ != 0) { for (unsigned i = 0; i < sd_junction_infos_.size(); i++) { if (JunctionEvent_last_passed_junction_id_ == sd_junction_infos_[i].junction_id) { last_passed_junction_index = i; break; } } } if (last_passed_junction_index != -1) { for (unsigned i = 0; i < sd_junction_infos_.size(); i++) { if (i <= last_passed_junction_index) { sd_junction_infos_[i].has_passed_flag = true; } else { sd_junction_infos_[i].has_passed_flag = false; } } } if (last_passed_junction_index != -1 && last_passed_junction_index + 1 < sd_junction_infos_.size()) { current_target_junction_index = last_passed_junction_index + 1; } else if (last_passed_junction_index == -1 && !sd_junction_infos_.empty()) { current_target_junction_index = 0; } else { current_target_junction_index = -1; } /// 使用min_passed_dist更新本周期passed if (current_target_junction_index != -1) { for (unsigned i = current_target_junction_index; i < sd_junction_infos_.size(); i++) { if (sd_junction_infos_[i].offset < 0) { if (JunctionEvent_min_passed_dist_map_.find(sd_junction_infos_[i].junction_type) != JunctionEvent_min_passed_dist_map_.end()) { if (sd_junction_infos_[i].offset < JunctionEvent_min_passed_dist_map_[sd_junction_infos_[i].junction_type]) { sd_junction_infos_[i].has_passed_flag = true; if (current_target_junction_index + 1 < sd_junction_infos_.size()) { current_target_junction_index += 1; } else { current_target_junction_index = -1; break; } } } } } } /// 使用max_start_effect_dist更新本周期的effected if (current_target_junction_index != -1) { for (unsigned i = current_target_junction_index; i < sd_junction_infos_.size(); i++) { if (JunctionEvent_max_start_effect_dist_map_more_lane_num_.find(sd_junction_infos_[i].junction_type) != JunctionEvent_max_start_effect_dist_map_more_lane_num_.end() && sd_junction_infos_[i].main_road_lane_nums >= 4) { if (sd_junction_infos_[i].offset < JunctionEvent_max_start_effect_dist_map_more_lane_num_[sd_junction_infos_[i].junction_type]) { sd_junction_infos_[i].has_effected_flag = true; } } else if (JunctionEvent_max_start_effect_dist_map_less_lane_num_.find(sd_junction_infos_[i].junction_type) != JunctionEvent_max_start_effect_dist_map_less_lane_num_.end() && (sd_junction_infos_[i].main_road_lane_nums == 1 || sd_junction_infos_[i].main_road_lane_nums == 2)) { if (sd_junction_infos_[i].offset < JunctionEvent_max_start_effect_dist_map_less_lane_num_[sd_junction_infos_[i].junction_type]) { sd_junction_infos_[i].has_effected_flag = true; } } else if (JunctionEvent_max_start_effect_dist_map_.find(sd_junction_infos_[i].junction_type) != JunctionEvent_max_start_effect_dist_map_.end()) { if (sd_junction_infos_[i].offset < JunctionEvent_max_start_effect_dist_map_[sd_junction_infos_[i].junction_type]) { sd_junction_infos_[i].has_effected_flag = true; } } } } /// 针对首个非passed且effected的 RampMerge ApproachRampMerge,更新本周期passed if (current_target_junction_index != -1 && sd_junction_infos_[current_target_junction_index].has_effected_flag && current_target_junction_index + 1 < sd_junction_infos_.size()) { auto &junction_info_effected = sd_junction_infos_[current_target_junction_index]; if (junction_info_effected.offset < -50 && (junction_info_effected.junction_type == JunctionType::RampMerge || junction_info_effected.junction_type == JunctionType::ApproachRampMerge)) { if ((sd_junction_infos_[current_target_junction_index + 1].junction_type == JunctionType::RampInto && sd_junction_infos_[current_target_junction_index + 1].offset < 240) || sd_junction_infos_[current_target_junction_index + 1].offset < 30) { junction_info_effected.has_passed_flag = true; current_target_junction_index += 1; } } } /// 使用感知特征变化 只针对首个非passed且effected 更新本周期的passed if (current_target_junction_index != -1 && sd_junction_infos_[current_target_junction_index].has_effected_flag) { auto &junction_info_effected = sd_junction_infos_[current_target_junction_index]; auto check_static3roadedges_turnRight = [&]() -> bool { if (!junction_info_effected.has_passed_flag) { if (bev_left_road_edge_indexs_.size() == 2 && bev_right_road_edge_indexs_.size() == 1) { if (bev_egoRoadEdgeIndexPair_.first == bev_left_road_edge_indexs_.back() && bev_egoRoadEdgeIndexPair_.second == bev_right_road_edge_indexs_.front()) { auto L1Geos = INTERNAL_PARAMS.raw_bev_data.GetRoadEdgeById(bev_line_sorts_[bev_left_road_edge_indexs_.front()].id)->geos; auto L2Geos = INTERNAL_PARAMS.raw_bev_data.GetRoadEdgeById(bev_line_sorts_[bev_egoRoadEdgeIndexPair_.first].id)->geos; double Gap_L1_L2 = LaneGeometry::GetDistanceBetweenLinesThin(*L1Geos, *L2Geos); if (L2Geos->front().x() - L1Geos->front().x() > 10 && Gap_L1_L2 > 5) { junction_info_effected.has_passed_flag = true; junction_info_effected.has_effected_flag = false; if (current_target_junction_index + 1 < sd_junction_infos_.size()) { current_target_junction_index += 1; } else { current_target_junction_index = -1; } return true; } } } } return false; }; auto check_static3roadedges_turnLeft = [&]() -> bool { if (!junction_info_effected.has_passed_flag) { if (bev_left_road_edge_indexs_.size() == 1 && bev_right_road_edge_indexs_.size() == 2) { if (bev_egoRoadEdgeIndexPair_.second == bev_right_road_edge_indexs_.front() && bev_egoRoadEdgeIndexPair_.first == bev_left_road_edge_indexs_.front()) { auto R1Geos = INTERNAL_PARAMS.raw_bev_data.GetRoadEdgeById(bev_line_sorts_[bev_right_road_edge_indexs_.front()].id)->geos; auto R2Geos = INTERNAL_PARAMS.raw_bev_data.GetRoadEdgeById(bev_line_sorts_[bev_right_road_edge_indexs_.back()].id)->geos; double Gap_R1_R2 = LaneGeometry::GetDistanceBetweenLinesThin(*R1Geos, *R2Geos); if (R1Geos->front().x() - R2Geos->front().x() > 10 && Gap_R1_R2 > 5) { junction_info_effected.has_passed_flag = true; junction_info_effected.has_effected_flag = false; if (current_target_junction_index + 1 < sd_junction_infos_.size()) { current_target_junction_index += 1; } else { current_target_junction_index = -1; } return true; } } } } return false; }; auto check_change_egoleftroadedge = [&]() -> bool { if (!junction_info_effected.has_passed_flag) { if (JunctionEvent_last_junction_bev_feature_.junction_id == junction_info_effected.junction_id && JunctionEvent_last_junction_bev_feature_.junction_type == junction_info_effected.junction_type) { if (bev_egoRoadEdgeIndexPair_.first != -1 && bev_egoRoadEdgeIndexPair_.second != -1) { auto ego_left_road_edge_id = bev_line_sorts_[bev_egoRoadEdgeIndexPair_.first].id; auto ego_right_road_edge_id = bev_line_sorts_[bev_egoRoadEdgeIndexPair_.second].id; if (ego_right_road_edge_id == JunctionEvent_last_junction_bev_feature_.ego_right_road_edge_id && ego_left_road_edge_id != JunctionEvent_last_junction_bev_feature_.ego_left_road_edge_id && JunctionEvent_last_junction_bev_feature_.ego_left_road_edge_id != 0) { auto roadEdge_tmp = INTERNAL_PARAMS.raw_bev_data.GetRoadEdgeById(ego_left_road_edge_id); int nearest_index = roadEdge_tmp->indexed_geos.FindNearestPoint(0, 0); if (nearest_index != -1 && nearest_index < roadEdge_tmp->geos->size() && JunctionEvent_last_junction_bev_feature_.ego_left_road_edge_point.y() - roadEdge_tmp->geos->at(nearest_index).y() > 5) { junction_info_effected.has_passed_flag = true; junction_info_effected.has_effected_flag = false; if (current_target_junction_index + 1 < sd_junction_infos_.size()) { current_target_junction_index += 1; } else { current_target_junction_index = -1; } return true; } } } } } return false; }; auto check_change_egorightroadedge = [&]() -> bool { if (!junction_info_effected.has_passed_flag) { if (JunctionEvent_last_junction_bev_feature_.junction_id == junction_info_effected.junction_id && JunctionEvent_last_junction_bev_feature_.junction_type == junction_info_effected.junction_type) { if (bev_egoRoadEdgeIndexPair_.first != -1 && bev_egoRoadEdgeIndexPair_.second != -1) { auto ego_left_road_edge_id = bev_line_sorts_[bev_egoRoadEdgeIndexPair_.first].id; auto ego_right_road_edge_id = bev_line_sorts_[bev_egoRoadEdgeIndexPair_.second].id; if (ego_right_road_edge_id != JunctionEvent_last_junction_bev_feature_.ego_right_road_edge_id && JunctionEvent_last_junction_bev_feature_.ego_right_road_edge_id != 0 && ego_left_road_edge_id == JunctionEvent_last_junction_bev_feature_.ego_left_road_edge_id) { auto roadEdge_tmp = INTERNAL_PARAMS.raw_bev_data.GetRoadEdgeById(ego_right_road_edge_id); int nearest_index = roadEdge_tmp->indexed_geos.FindNearestPoint(0, 0); if (nearest_index != -1 && nearest_index < roadEdge_tmp->geos->size() && roadEdge_tmp->geos->at(nearest_index).y() - JunctionEvent_last_junction_bev_feature_.ego_right_road_edge_point.y() > 5) { junction_info_effected.has_passed_flag = true; junction_info_effected.has_effected_flag = false; if (current_target_junction_index + 1 < sd_junction_infos_.size()) { current_target_junction_index += 1; } else { current_target_junction_index = -1; } return true; } } } } } return false; }; if (junction_info_effected.junction_type == JunctionType::RampInto) { if (junction_info_effected.offset < 0) { /// 3 road boundary bool res1 = check_static3roadedges_turnRight(); /// ego left roadboundary changed bool res2 = check_change_egoleftroadedge(); // AINFO << "[SDNOA] BevFeatureEvent: " << (int)res1 << "," << (int)res2; } } else if (junction_info_effected.junction_type == JunctionType::RampSplitLeft) { if (junction_info_effected.offset < 10) { bool res1 = check_static3roadedges_turnLeft(); bool res2 = check_change_egorightroadedge(); // AINFO << "[SDNOA] BevFeatureEvent: " << (int)res1 << "," << (int)res2; } } else if (junction_info_effected.junction_type == JunctionType::RampSplitRight) { if (junction_info_effected.offset < 10) { bool res1 = check_static3roadedges_turnRight(); bool res2 = check_change_egoleftroadedge(); // AINFO << "[SDNOA] BevFeatureEvent: " << (int)res1 << "," << (int)res2; } } } /// 更新本周期JunctionBevFeature if (current_target_junction_index != -1 && sd_junction_infos_[current_target_junction_index].has_effected_flag) { auto &junction_info_effected = sd_junction_infos_[current_target_junction_index]; if (bev_egoRoadEdgeIndexPair_.first != -1) { JunctionEvent_last_junction_bev_feature_.left_update_offset = junction_info_effected.offset; JunctionEvent_last_junction_bev_feature_.ego_left_road_edge_id = bev_line_sorts_[bev_egoRoadEdgeIndexPair_.first].id; auto roadEdge_tmp = INTERNAL_PARAMS.raw_bev_data.GetRoadEdgeById(JunctionEvent_last_junction_bev_feature_.ego_left_road_edge_id); int nearest_index = roadEdge_tmp->indexed_geos.FindNearestPoint(0, 0); if (nearest_index != -1 && nearest_index < roadEdge_tmp->geos->size()) { JunctionEvent_last_junction_bev_feature_.ego_left_road_edge_point = roadEdge_tmp->geos->at(nearest_index); } else { JunctionEvent_last_junction_bev_feature_.ego_left_road_edge_point = {0, 0}; } } else { if (junction_info_effected.junction_id != JunctionEvent_last_junction_bev_feature_.junction_id) { JunctionEvent_last_junction_bev_feature_.left_update_offset = 0; JunctionEvent_last_junction_bev_feature_.ego_left_road_edge_id = 0; JunctionEvent_last_junction_bev_feature_.ego_left_road_edge_point = {0, 0}; } } if (bev_egoRoadEdgeIndexPair_.second != -1) { JunctionEvent_last_junction_bev_feature_.right_update_offset = junction_info_effected.offset; JunctionEvent_last_junction_bev_feature_.ego_right_road_edge_id = bev_line_sorts_[bev_egoRoadEdgeIndexPair_.second].id; JunctionEvent_last_junction_bev_feature_.ego_right_road_edge_point = INTERNAL_PARAMS.raw_bev_data.GetRoadEdgeById(JunctionEvent_last_junction_bev_feature_.ego_right_road_edge_id)->geos->back(); } else { if (junction_info_effected.junction_id != JunctionEvent_last_junction_bev_feature_.junction_id) { JunctionEvent_last_junction_bev_feature_.right_update_offset = 0; JunctionEvent_last_junction_bev_feature_.ego_right_road_edge_id = 0; JunctionEvent_last_junction_bev_feature_.ego_right_road_edge_point = {0, 0}; } } JunctionEvent_last_junction_bev_feature_.junction_id = junction_info_effected.junction_id; JunctionEvent_last_junction_bev_feature_.junction_type = junction_info_effected.junction_type; } else { JunctionEvent_last_junction_bev_feature_.junction_id = 0; JunctionEvent_last_junction_bev_feature_.junction_type = JunctionType::Unknow; JunctionEvent_last_junction_bev_feature_.left_update_offset = 0; 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