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[8.1.2][opt]预测功能新增些日志

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chenfufeng
2025-07-16 17:28:10 +08:00
parent 2b1ec7190a
commit 0a1d7f85ff
1 changed files with 13 additions and 5 deletions
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18
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
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@@ -7,17 +7,16 @@ import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.business.routeoverlay.PredictionDataManager
import com.mogo.eagle.core.function.business.routeoverlay.PredictionOverlayDrawer
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.getLocationHeading
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.getWgs84Lat
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.getWgs84Lon
import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.map.MogoMap
import com.mogo.map.MogoMap.Companion.mapInstance
import com.mogo.map.utils.LocationUtils
import com.zhjt.mogo.adas.data.Adas.TrackedObjectClassID
import com.zhjt.mogo.adas.data.Adas.TrackedObjectType
import mogo.telematics.pad.MessagePad
@@ -119,14 +118,23 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
// PredictionDataManager.getInstance()?.updateData(carPoiList1!!, 0)
// PredictionDataManager.getInstance()?.updateData(carPoiList2!!, 2)
} else {
if (isUnKnownType(preObj.classtype) || preObj.predictionTrajectoryList.isNullOrEmpty() || mogoMap == null) return@forEach
if (isUnKnownType(preObj.classtype) || preObj.predictionTrajectoryList.isNullOrEmpty() || mogoMap == null) {
CallerLogger.d(TAG, "未知感知物或者没有预测数据或者地图实例拿不到，直接返回!")
return@forEach
}
point = preObj.predictionTrajectoryList[0].trajectoryPointsList[0]
arr = mogoMap.switchData(point.x, point.y, false)
arr?.let { lonLatArr ->
// 感知物不在当前视椎体内则不渲染其预测轨迹
if (!mogoMap.isInCurrentFrame(lonLatArr[0], lonLatArr[1])) return@forEach
if (!mogoMap.isInCurrentFrame(lonLatArr[0], lonLatArr[1])) {
CallerLogger.d(TAG, "当前它车感知物不在视椎体内,不渲染预测轨迹!")
return@forEach
}
val distance = com.mogo.eagle.core.utilcode.util.LocationUtils.getDistance(getWgs84Lat(), getWgs84Lon(), lonLatArr[1], lonLatArr[0])
if (distance > 28) return@forEach
if (distance > 28) {
CallerLogger.d(TAG, "当前它车感知物距离自车大于28米,不渲染预测轨迹!")
return@forEach
}
}
preObj.predictionTrajectoryList[0].trajectoryPointsList.forEachIndexed { index, point ->
if (index in 0..44 && index % 2 == 0) {// 步长为2，减少点