LidarMeasure/verify/Terminal_region_limit.cpp

//
// Created by zx on 2020/1/16.
//

#include "Terminal_region_limit.h"

Terminal_region_limit::Terminal_region_limit(Railing* left_railing,Railing* right_railing)
{
    mp_left_railing=left_railing;
    mp_right_railing=right_railing;
}
Error_manager Terminal_region_limit::verify(cv::RotatedRect rect)
{
    if(mp_right_railing==NULL || mp_left_railing==NULL)
    {
        return Error_manager(PARAMETER_ERROR,NORMAL,"terminal left or right railing is null");
    }
    Error_manager code;
    bool tb_left_error=false;
    bool tb_right_error=false;
    code=mp_left_railing->verify(rect);
    if(code!=SUCCESS)
    {
        //左边栏杆碰撞
        tb_left_error=true;
    }
    code=mp_right_railing->verify(rect);
    if(code!=SUCCESS)
    {
        //右边栏杆碰撞
        tb_right_error=true;
    }
    if(tb_left_error && tb_right_error)
    {
        return Error_manager(HARDWARE_LIMIT_TERMINAL_LR_ERROR,NORMAL,"terminal left and right railing error");
    }
    if(tb_left_error)
    {
        return Error_manager(HARDWARE_LIMIT_TERMINAL_LEFT_ERROR,NORMAL,"terminal left railing error");
    }
    if(tb_right_error)
    {
        return Error_manager(HARDWARE_LIMIT_TERMINAL_RIGHT_ERROR,NORMAL,"terminal right railing error");
    }
    return SUCCESS;
}