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Merge branch 'dev_robotaxi-d_230912_6.1.0' into base_3.4.0-map-sdk

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This commit is contained in:
zhongchao
2023-09-27 14:22:12 +08:00
parent 722607fba4 65ee24fff3
commit 2bb96c5c5d
6 changed files with 661 additions and 17 deletions
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24
OCH/mogo-och-common-module/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt
View File

@@ -18,6 +18,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.och.common.module.debug.location.MogoLocationExit
import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
@@ -35,11 +36,13 @@ object DebugDataDispatch {
const val locationMock = "location"
const val carDoorMock = "carDoor"
const val carNeedTurnAround = "trunAroud"
const val trajectoryStation = "trajectoryStation"
// adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "location" --es path "sy73_log.json"
// adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "globalPath" --es path "sy73.json"
// adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "carDoor" --ei doorPostion 1 --ei doorStatus 1
// adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "trunAroud" --es code "IMAP_TRA_LOADED"
// adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "trajectoryStation" --ef startLon 116.74053643938474 --ef startLat 40.200487993233246 --ef endLon 116.73876977409685 --ef endLat 40.20179054129441 --el lineID 8
val ROOT_PATH =
@@ -83,10 +86,31 @@ object DebugDataDispatch {
newBuilder.level = ""
CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian(newBuilder.build())
}
trajectoryStation -> {
val startLon = intent.getFloatExtra("startLon", -1.0f)
val startLat = intent.getFloatExtra("startLat", -1.0f)
val endLon = intent.getFloatExtra("endLon", -1.0f)
val endLat = intent.getFloatExtra("endLat", -1.0f)
val lineID = intent.getLongExtra("lineID", -1)
setStation(startLon.toDouble(),startLat.toDouble(),endLon.toDouble(),endLat.toDouble(),lineID)
}
else -> {}
}
}
fun setStation(startLon:Double,startLat:Double,endLon:Double,endLat:Double,lineID:Long){
if(startLon<0||startLat<0||endLon<0||endLat<0||lineID<0){
TrajectoryAndDistanceManager.setStationPoint(null,null,-1)
}
val startLocation = MogoLocation()
startLocation.longitude = startLon
startLocation.latitude = startLat
val endLocation = MogoLocation()
endLocation.longitude = endLon
endLocation.latitude = endLat
TrajectoryAndDistanceManager.setStationPoint(startLocation,endLocation,lineID)
}
fun getLocaitonByLog(path:String) {
ThreadUtils.getIoPool().execute {
try {

6
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt
View File

@@ -270,7 +270,7 @@ object TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
) {
//要前往的站在轨迹中对应的点的信息
val startStationInfo = CoordinateCalculateRouteUtil.getNearestPointInfo(
preCarLocationIndexInTrajectory, mRoutePoints!!.size,mRoutePoints!!, startStationInfo.stationPoint!!,1
preCarLocationIndexInTrajectory, mRoutePoints!!.size,mRoutePoints!!, startStationInfo.stationPoint!!,1, useHeading = false
)
this.startStationInfo.isNext = startStationInfo.second
this.startStationInfo.index = startStationInfo.first
@@ -288,7 +288,7 @@ object TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
) {
//要前往的站在轨迹中对应的点
val endStationInfo = CoordinateCalculateRouteUtil.getNearestPointInfo(
preCarLocationIndexInTrajectory,mRoutePoints!!.size, mRoutePoints!!, endStationInfo.stationPoint!!,3
preCarLocationIndexInTrajectory,mRoutePoints!!.size, mRoutePoints!!, endStationInfo.stationPoint!!,3, useHeading = false
)
this.endStationInfo.isNext = endStationInfo.second
this.endStationInfo.index = endStationInfo.first
@@ -324,7 +324,7 @@ object TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
preCarLocationIndexInTrajectory,endStationInfo.index!!+1, mRoutePoints!!, location,2
)
}
val calculateData = "距离结束站点最近的点:${carLocationInfo.first} 点在站的后面:${carLocationInfo.second} 距离点的距离：${carLocationInfo.third}"
val calculateData = "距离轨迹点最近的点:${carLocationInfo.first} 点在站的后面:${carLocationInfo.second} 距离点的距离：${carLocationInfo.third}"
writeLog(calculateData, locationInfo)
if(carLocationInfo.second==null||carLocationInfo.third>1_000){
preCarLocationIndexInTrajectory = 0

6
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.kt
View File

@@ -737,7 +737,7 @@ object CoordinateCalculateRouteUtil {
}
// 最近点中包含上次计算的点和上次计算的最近的一个点
if(distanceMap.containsValue(preIndex)&&distanceMap.containsValue(preIndex+1)){
if(distanceMap.containsValue(preIndex)&&distanceMap.containsValue(preIndex+1)&&type==1){
var preIndexDistance:DistanceDegree?=null
var preIndexNextDistance:DistanceDegree?=null
distanceMap.iterator().forEach { en ->
@@ -771,7 +771,7 @@ object CoordinateCalculateRouteUtil {
distanceMap.clear()
Logger.d(SceneConstant.M_OCHCOMMON + "calculateRouteSumLength",
"计算时间:${startTime-System.currentTimeMillis()}")
return Triple(currentIndex,preIndexNextDistance?.isNext,preIndexNextDistance!!.distance)
return Triple(currentIndex,preIndexNextDistance?.isNext,preIndexNextDistance!!.distance)
}
}
}
@@ -823,7 +823,7 @@ object CoordinateCalculateRouteUtil {
val key = en.key
val value = en.value
// 排除没有第一个值0是
if(value==preIndex+1&&preIndex!=0){
if(value==preIndex+1&&preIndex!=0&&type==1){
currentIndex = value
val iterator1 = distanceMap.iterator()
while (iterator1.hasNext()) {

618
OCH/mogo-och-common-module/src/test/java/com/mogo/och/common/module/ExampleUnitTest.kt
View File

@@ -1,5 +1,6 @@
package com.mogo.och.common.module
import com.mogo.eagle.core.utilcode.util.CoordinateTransform
import com.zhidao.thirdlogin.utils.Aes
import org.junit.Assert.*
import org.junit.Test
@@ -20,4 +21,621 @@ class ExampleUnitTest {
val encrypt: String = Aes.encrypt(json, KEY, IVS, "UTF-8")
println(encrypt)
}
@Test
fun resetData(){
val mutableListOf = mutableListOf<Data>()
mutableListOf.add(Data(26.81618164239085,112.58250175297606,55.55709771386404 ,0.046407543))
mutableListOf.add(Data(26.81618164239085,112.58250175297606,55.55709771386404 ,0.046407543))
mutableListOf.add(Data(26.81618164239085,112.58250175297606,55.55709771386404 ,0.046407543))
mutableListOf.add(Data(26.816181808122355,112.58250217912767,55.5367232595699 ,0.024934836))
mutableListOf.add(Data(26.81618188427374,112.58250252407656,55.47659710430628 ,-0.0031026027))
mutableListOf.add(Data(26.816182627199186,112.58250389674681,55.30434314853312 ,0.56499475))
mutableListOf.add(Data(26.81619347196081,112.5825216510838,54.429112463003946 ,3.3143053))
mutableListOf.add(Data(26.816212952303637,112.58255186583256,53.611788121258144 ,4.1918964))
mutableListOf.add(Data(26.816239753303016,112.5825918107494,52.81322630916236 ,6.0459743))
mutableListOf.add(Data(26.81627681379391,112.58264625538742,52.33910872792592 ,7.5077167))
mutableListOf.add(Data(26.81632000870642,112.58270715442146,51.45473583419266 ,8.213942))
mutableListOf.add(Data(26.816367868569504,112.58277449458916,51.894186790296715 ,9.117803))
mutableListOf.add(Data(26.816419772705085,112.58284877034309,52.35565486119026 ,9.915305))
mutableListOf.add(Data(26.816475594914255,112.58292938397568,52.452862113457854 ,10.67503))
mutableListOf.add(Data(26.816535811576774,112.58301559606879,52.43356682905261 ,11.37326))
mutableListOf.add(Data(26.816598457679355,112.5831078725796,53.85711144077209 ,11.978908))
mutableListOf.add(Data(26.816662027735013,112.58320692287296,55.32445805563884 ,12.534072))
mutableListOf.add(Data(26.816726886660476,112.58331188364737,55.79882835387457 ,13.077099))
mutableListOf.add(Data(26.816726886660476,112.58331188364737,55.79882835387457 ,13.077099))
mutableListOf.add(Data(26.816793247443773,112.58341938436075,55.82383367642598 ,13.111888))
mutableListOf.add(Data(26.816793247443773,112.58341938436075,55.82383367642598 ,13.111888))
mutableListOf.add(Data(26.816860045545038,112.5835283980739,55.95009655342284 ,13.205783))
mutableListOf.add(Data(26.816860045545038,112.5835283980739,55.95009655342284 ,13.205783))
mutableListOf.add(Data(26.816925196446753,112.58363575353036,56.266921708263055 ,12.377544))
mutableListOf.add(Data(26.816925196446753,112.58363575353036,56.266921708263055 ,12.377544))
mutableListOf.add(Data(26.8169850300721,112.58373523649801,56.48836327134404 ,11.37828))
mutableListOf.add(Data(26.8169850300721,112.58373523649801,56.48836327134404 ,11.37828))
mutableListOf.add(Data(26.817037934280332,112.58382376359087,56.24827187673429 ,9.676991))
mutableListOf.add(Data(26.817037934280332,112.58382376359087,56.24827187673429 ,9.676991))
mutableListOf.add(Data(26.817083166151374,112.5838975695181,55.88718368097784 ,7.9715595))
mutableListOf.add(Data(26.817083166151374,112.5838975695181,55.88718368097784 ,7.9715595))
mutableListOf.add(Data(26.817119554569622,112.58395525826116,54.790292866314246 ,5.8003225))
mutableListOf.add(Data(26.817119554569622,112.58395525826116,54.790292866314246 ,5.8003225))
mutableListOf.add(Data(26.817140378417207,112.58398757091575,54.00168947002834 ,2.0236187))
mutableListOf.add(Data(26.817140378417207,112.58398757091575,54.00168947002834 ,2.0236187))
mutableListOf.add(Data(26.817143666977085,112.58399300744259,53.873008706065264 ,0.072262354))
mutableListOf.add(Data(26.817143666977085,112.58399300744259,53.873008706065264 ,0.072262354))
mutableListOf.add(Data(26.81714331006102,112.58399316177113,53.87228129091869 ,0.0019371088))
mutableListOf.add(Data(26.81714331006102,112.58399316177113,53.87228129091869 ,0.0019371088))
mutableListOf.add(Data(26.81714313768666,112.58399312891899,53.870710347409556 ,-0.0011951944))
mutableListOf.add(Data(26.81714313768666,112.58399312891899,53.870710347409556 ,-0.0011951944))
mutableListOf.add(Data(26.81714315453284,112.58399311449793,53.86844272460513 ,-0.0039134827))
mutableListOf.add(Data(26.81714315453284,112.58399311449793,53.86844272460513 ,-0.0039134827))
mutableListOf.add(Data(26.817143235978477,112.5839931065896,53.868674951036894 ,0.009990219))
mutableListOf.add(Data(26.817143235978477,112.5839931065896,53.868674951036894 ,0.009990219))
mutableListOf.add(Data(26.8171432379633,112.58399311184859,53.86787240380943 ,0.0057474226))
mutableListOf.add(Data(26.8171432379633,112.58399311184859,53.86787240380943 ,0.0057474226))
mutableListOf.add(Data(26.817143234431487,112.58399311556684,53.868285630254206 ,0.0053468696))
mutableListOf.add(Data(26.817143234431487,112.58399311556684,53.868285630254206 ,0.0053468696))
mutableListOf.add(Data(26.81714323875891,112.5839931259286,53.867687988701846 ,0.008409082))
mutableListOf.add(Data(26.81714323875891,112.5839931259286,53.867687988701846 ,0.008409082))
mutableListOf.add(Data(26.817143254507762,112.58399313934659,53.86896181898203 ,0.008529294))
mutableListOf.add(Data(26.817143254507762,112.58399313934659,53.86896181898203 ,0.008529294))
mutableListOf.add(Data(26.817143260063123,112.58399314333123,53.865194969654794 ,0.0053140023))
mutableListOf.add(Data(26.817143260063123,112.58399314333123,53.865194969654794 ,0.0053140023))
mutableListOf.add(Data(26.81714326019063,112.58399314732564,53.868613479334385 ,0.0040332223))
mutableListOf.add(Data(26.81714326019063,112.58399314732564,53.868613479334385 ,0.0040332223))
mutableListOf.add(Data(26.81714326984717,112.5839931502497,53.869293083156776 ,0.0050935512))
mutableListOf.add(Data(26.81714326984717,112.5839931502497,53.869293083156776 ,0.0050935512))
mutableListOf.add(Data(26.817143276924913,112.5839931598786,53.87102112101678 ,0.0051586633))
mutableListOf.add(Data(26.817143276924913,112.5839931598786,53.87102112101678 ,0.0051586633))
mutableListOf.add(Data(26.817143271976438,112.58399317037059,53.86838808309176 ,0.006491186))
mutableListOf.add(Data(26.817143271976438,112.58399317037059,53.86838808309176 ,0.006491186))
mutableListOf.add(Data(26.817143265170607,112.5839931554377,53.86955946053439 ,-0.0019018989))
mutableListOf.add(Data(26.817143265170607,112.5839931554377,53.86955946053439 ,-0.0019018989))
mutableListOf.add(Data(26.817143273658317,112.58399316718146,53.86821049817331 ,0.0031056462))
mutableListOf.add(Data(26.817143273658317,112.58399316718146,53.86821049817331 ,0.0031056462))
mutableListOf.add(Data(26.81714327261351,112.58399317389184,53.867244026405785 ,0.0022922105))
mutableListOf.add(Data(26.81714327261351,112.58399317389184,53.867244026405785 ,0.0022922105))
mutableListOf.add(Data(26.81714328168219,112.58399317547813,53.869750705831166 ,0.0033199964))
mutableListOf.add(Data(26.81714328168219,112.58399317547813,53.869750705831166 ,0.0033199964))
mutableListOf.add(Data(26.81714329830482,112.58399317974332,53.868497366118504 ,0.0036278928))
mutableListOf.add(Data(26.81714329830482,112.58399317974332,53.868497366118504 ,0.0036278928))
mutableListOf.add(Data(26.81714329823904,112.58399318687029,53.869549215250686 ,9.618327E-4))
mutableListOf.add(Data(26.81714329823904,112.58399318687029,53.869549215250686 ,9.618327E-4))
mutableListOf.add(Data(26.81714329683728,112.58399318631112,53.87207297014896 ,-3.115031E-4))
mutableListOf.add(Data(26.81714329683728,112.58399318631112,53.87207297014896 ,-3.115031E-4))
mutableListOf.add(Data(26.817143299098106,112.5839931844786,53.86809438495743 ,5.291645E-4))
mutableListOf.add(Data(26.817143299098106,112.5839931844786,53.86809438495743 ,5.291645E-4))
mutableListOf.add(Data(26.817143308731524,112.58399319567121,53.86893449822537 ,0.002943732))
mutableListOf.add(Data(26.817143308731524,112.58399319567121,53.86893449822537 ,0.002943732))
mutableListOf.add(Data(26.81714331310618,112.58399323023308,53.86786898871486 ,0.016370257))
mutableListOf.add(Data(26.81714331310618,112.58399323023308,53.86786898871486 ,0.016370257))
mutableListOf.add(Data(26.817143303931818,112.58399320624724,53.86840174347009 ,-0.0065030125))
mutableListOf.add(Data(26.817143303931818,112.58399320624724,53.86840174347009 ,-0.0065030125))
mutableListOf.add(Data(26.81714328119793,112.58399322107572,53.86862030952352 ,-0.0044723027))
mutableListOf.add(Data(26.81714328119793,112.58399322107572,53.86862030952352 ,-0.0044723027))
mutableListOf.add(Data(26.81714326726879,112.58399321507112,53.87232910224287 ,-0.0035493786))
mutableListOf.add(Data(26.81714326726879,112.58399321507112,53.87232910224287 ,-0.0035493786))
mutableListOf.add(Data(26.81714326952943,112.58399321006907,53.872151517324426 ,7.5540715E-4))
mutableListOf.add(Data(26.81714326952943,112.58399321006907,53.872151517324426 ,7.5540715E-4))
mutableListOf.add(Data(26.817143279681396,112.58399321381509,53.872574989052964 ,0.001874776))
mutableListOf.add(Data(26.817143279681396,112.58399321381509,53.872574989052964 ,0.001874776))
mutableListOf.add(Data(26.817143286214396,112.58399322256894,53.86990780018209 ,0.0010117635))
mutableListOf.add(Data(26.817143286214396,112.58399322256894,53.86990780018209 ,0.0010117635))
mutableListOf.add(Data(26.817143290166985,112.58399321948606,53.866837630150144 ,-7.378759E-4))
mutableListOf.add(Data(26.817143290166985,112.58399321948606,53.866837630150144 ,-7.378759E-4))
mutableListOf.add(Data(26.817143296223914,112.58399321538221,53.871697309744604 ,-7.305082E-4))
mutableListOf.add(Data(26.817143296223914,112.58399321538221,53.871697309744604 ,-7.305082E-4))
mutableListOf.add(Data(26.817143305406848,112.58399321633149,53.86946042279146 ,-3.4410154E-4))
mutableListOf.add(Data(26.817143305406848,112.58399321633149,53.86946042279146 ,-3.4410154E-4))
mutableListOf.add(Data(26.817143309674115,112.58399323304309,53.86847346045636 ,0.015301721))
mutableListOf.add(Data(26.817143309674115,112.58399323304309,53.86847346045636 ,0.015301721))
mutableListOf.add(Data(26.817143300633735,112.5839932094286,53.869060856725014 ,-0.0041958815))
mutableListOf.add(Data(26.817143300633735,112.5839932094286,53.869060856725014 ,-0.0041958815))
mutableListOf.add(Data(26.81714329175772,112.58399321172573,53.868623724618146 ,-0.0041520167))
mutableListOf.add(Data(26.81714329175772,112.58399321172573,53.868623724618146 ,-0.0041520167))
mutableListOf.add(Data(26.81714327175831,112.58399320571804,53.867769950971876 ,-0.003427676))
mutableListOf.add(Data(26.81714327175831,112.58399320571804,53.867769950971876 ,-0.003427676))
mutableListOf.add(Data(26.81714327419855,112.58399319974227,53.86951164921021 ,1.3224973E-4))
mutableListOf.add(Data(26.81714327419855,112.58399319974227,53.86951164921021 ,1.3224973E-4))
mutableListOf.add(Data(26.817143286280604,112.58399319410101,53.86864421518561 ,0.0014093047))
mutableListOf.add(Data(26.817143286280604,112.58399319410101,53.86864421518561 ,0.0014093047))
mutableListOf.add(Data(26.817143301517042,112.58399319617503,53.869972686979224 ,0.0021324877))
mutableListOf.add(Data(26.817143301517042,112.58399319617503,53.869972686979224 ,0.0021324877))
mutableListOf.add(Data(26.81714329786978,112.58399320422272,53.87138653613738 ,5.9873355E-4))
mutableListOf.add(Data(26.81714329786978,112.58399320422272,53.87138653613738 ,5.9873355E-4))
mutableListOf.add(Data(26.817143290263108,112.58399320768578,53.868603234050624 ,-9.5163955E-4))
mutableListOf.add(Data(26.817143290263108,112.58399320768578,53.868603234050624 ,-9.5163955E-4))
mutableListOf.add(Data(26.81714330007566,112.58399319077888,53.8673567245271 ,-0.0016809735))
mutableListOf.add(Data(26.81714330007566,112.58399319077888,53.8673567245271 ,-0.0016809735))
mutableListOf.add(Data(26.81714331779051,112.58399320175057,53.86782459248525 ,0.013873377))
mutableListOf.add(Data(26.81714331779051,112.58399320175057,53.86782459248525 ,0.013873377))
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mutableListOf.add(Data(26.8230130510353,112.58818159990454,174.25116569613834 ,10.949297))
mutableListOf.add(Data(26.8229147108448,112.58819100914526,174.4300620108793 ,10.86557))
mutableListOf.add(Data(26.822815982451136,112.58819998942029,174.38741430970174 ,10.961633))
mutableListOf.add(Data(26.822717658398695,112.58820959147286,173.98943284714346 ,10.884146))
mutableListOf.add(Data(26.822619025345805,112.58821937006674,174.21477444824052 ,10.94364))
mutableListOf.add(Data(26.822520398766574,112.58822881737137,174.50188828019117 ,10.928565))
mutableListOf.add(Data(26.82242135045806,112.58823800170606,174.39203151758068 ,11.003972))
mutableListOf.add(Data(26.82232288454279,112.58824734785314,174.21564871245428 ,10.937689))
mutableListOf.add(Data(26.82222440307578,112.58825691597944,174.16925806761154 ,10.9371195))
mutableListOf.add(Data(26.822125599059973,112.58826617121782,174.505658544613 ,10.904333))
mutableListOf.add(Data(26.822027680356275,112.58827501278103,174.41369687762796 ,10.894905))
mutableListOf.add(Data(26.82192881779245,112.58828425392758,174.03677971846997 ,10.942385))
mutableListOf.add(Data(26.821829987245398,112.58829436532618,174.09423526976812 ,10.993935))
mutableListOf.add(Data(26.821731474322508,112.58830369366189,174.458011144963 ,10.912243))
mutableListOf.add(Data(26.82163298773937,112.58831277133513,174.29083543483776 ,10.906608))
mutableListOf.add(Data(26.821534477288782,112.58832251669477,174.07890832527062 ,10.930833))
mutableListOf.add(Data(26.82143603055604,112.58833213847254,174.3435371744736 ,10.910077))
mutableListOf.add(Data(26.821337437902788,112.58834046715273,175.3574104548703 ,10.923147))
mutableListOf.add(Data(26.82123870294786,112.5883459066746,177.2432256847108 ,10.943883))
mutableListOf.add(Data(26.821139617348642,112.58834848729124,177.67729786684345 ,10.97326))
mutableListOf.add(Data(26.82104042684288,112.5883516739536,176.89996769778264 ,10.979047))
mutableListOf.add(Data(26.820941492509043,112.58835610568427,177.2468047038359 ,10.953704))
mutableListOf.add(Data(26.820842365150224,112.58835964324697,176.68708436173168 ,10.956896))
mutableListOf.add(Data(26.82074348179931,112.58836548765069,175.08942115259566 ,10.924478))
mutableListOf.add(Data(26.820644894992096,112.5883738706066,174.5613928882403 ,10.922756))
mutableListOf.add(Data(26.82054592431787,112.58838272264623,174.56396103936825 ,10.973723))
mutableListOf.add(Data(26.82044709968575,112.58839144578067,174.37763347881028 ,10.921038))
mutableListOf.add(Data(26.820350203145193,112.58840097729004,173.61869017899517 ,10.51492))
mutableListOf.add(Data(26.820258686700708,112.58841127187114,173.23824864222544 ,9.750838))
mutableListOf.add(Data(26.82017508368214,112.58842030622239,174.08024704234793 ,8.816113))
mutableListOf.add(Data(26.820100223700994,112.58842630948175,176.73598851618897 ,7.82164))
mutableListOf.add(Data(26.820033299572902,112.58842614363626,183.5862311216049 ,6.977247))
mutableListOf.add(Data(26.81997327271163,112.58841548604096,193.57521885820844 ,6.478256))
mutableListOf.add(Data(26.81991927150576,112.58839498736432,202.85463190231775 ,6.3534274))
mutableListOf.add(Data(26.819867127007132,112.58836446736944,210.9787321086977 ,6.6902227))
mutableListOf.add(Data(26.81981675325887,112.58832481437109,218.38637279190002 ,6.9047847))
mutableListOf.add(Data(26.819771552548968,112.58827786859652,226.603035721912 ,6.7886267))
mutableListOf.add(Data(26.81973314144824,112.58822495699303,232.99868825692852 ,6.7599373))
mutableListOf.add(Data(26.819698452510536,112.58816757745821,237.22470388133385 ,7.2045116))
mutableListOf.add(Data(26.819663217361732,112.5881007591936,240.00845676059924 ,8.158858))
mutableListOf.add(Data(26.819626000292175,112.58802453540116,240.8784999174538 ,8.999233))
mutableListOf.add(Data(26.819586534576935,112.58794197732135,240.76522806025832 ,9.600716))
mutableListOf.add(Data(26.819543977857247,112.58785492336641,240.00827917568083 ,10.142109))
mutableListOf.add(Data(26.819497317310454,112.58776324429233,239.45918660792518 ,10.695647))
mutableListOf.add(Data(26.819448768856812,112.587668386066,239.3843823761352 ,10.932611))
mutableListOf.add(Data(26.81939918638018,112.58757314768673,238.63705039790906 ,10.928658))
mutableListOf.add(Data(26.819348833837722,112.58747899858194,238.34806509412584 ,10.828743))
mutableListOf.add(Data(26.819298543965182,112.58738510707593,238.20517753668918 ,10.846967))
mutableListOf.add(Data(26.819247448176384,112.58729177541909,237.1934625960702 ,10.858182))
mutableListOf.add(Data(26.819194632031977,112.5871997947454,236.50368179179063 ,10.823321))
mutableListOf.add(Data(26.81914190798688,112.58710814764821,236.76342022554786 ,10.759948))
mutableListOf.add(Data(26.81908940434915,112.58701628899507,236.13558923704028 ,10.808216))
mutableListOf.add(Data(26.819035575518786,112.58692584568828,235.18217679117654 ,10.71068))
mutableListOf.add(Data(26.81898073231781,112.5868359376484,235.13092305164477 ,10.8211355))
mutableListOf.add(Data(26.81892555318869,112.58674535807322,235.32996842443728 ,10.85881))
mutableListOf.add(Data(26.81887105463057,112.58665496701065,235.21492071805758 ,10.777623))
mutableListOf.add(Data(26.818815922622132,112.58656520621176,234.90702945065175 ,10.759572))
mutableListOf.add(Data(26.818760790349998,112.58647523807899,235.211041170609 ,10.825326))
mutableListOf.add(Data(26.818706084816025,112.5863853958238,235.1533533928791 ,10.755462))
mutableListOf.add(Data(26.818651422997945,112.58629555556442,235.04497195112933 ,10.756754))
mutableListOf.add(Data(26.818596768469828,112.58620567612797,235.18598803673342 ,10.776001))
mutableListOf.add(Data(26.818542351463606,112.58611652045523,234.8494782767052 ,10.687228))
mutableListOf.add(Data(26.818487635742752,112.58602741332314,234.98692900356255 ,10.736459))
mutableListOf.add(Data(26.818433311586134,112.5859383346022,235.22746094537374 ,10.653758))
mutableListOf.add(Data(26.818378710306522,112.58584926454115,235.01718674158573 ,10.708648))
mutableListOf.add(Data(26.81832410447011,112.58575969356657,235.37343574831525 ,10.767325))
mutableListOf.add(Data(26.818270113201255,112.5856699225492,235.18238169685165 ,10.741438))
mutableListOf.add(Data(26.818215754477475,112.5855806078428,234.962640850874 ,10.717836))
mutableListOf.add(Data(26.81816119807655,112.58549201301568,235.00922274101347 ,10.64606))
mutableListOf.add(Data(26.818106882589856,112.58540284786379,235.37503401258104 ,10.699273))
mutableListOf.add(Data(26.818052845270795,112.58531349223125,235.15450086465967 ,10.689224))
mutableListOf.add(Data(26.81799849537033,112.58522428835666,235.13877776919028 ,10.715375 ))
mutableListOf.add(Data(26.817944471910003,112.58513476623239,235.33824661371133 ,10.698519))
mutableListOf.add(Data(26.817890134992844,112.58504554973807,234.86815201389604 ,10.693531))
mutableListOf.add(Data(26.817835319728093,112.58495664165265,235.02019202482052 ,10.712638))
mutableListOf.add(Data(26.817780786837695,112.58486759996185,234.98798085269473 ,10.703126))
mutableListOf.add(Data(26.817726344560015,112.58477895119715,234.72041502214867 ,10.559478))
mutableListOf.add(Data(26.817672896045035,112.58469285935371,234.80909819833212 ,10.268126))
mutableListOf.add(Data(26.81762034092348,112.5846076693991,235.4481989989702 ,10.194944))
mutableListOf.add(Data(26.81757000080714,112.58452312548724,236.82009713528063 ,9.998541))
mutableListOf.add(Data(26.81752307710616,112.58443938857062,238.62282994405712 ,9.646217))
mutableListOf.add(Data(26.81747927640272,112.5843556948273,239.96605494623182 ,9.61409))
mutableListOf.add(Data(26.817437035117667,112.5842705975036,241.02851819238398 ,9.784999))
mutableListOf.add(Data(26.817394588032748,112.58418206729552,241.47888720587628 ,10.220616))
mutableListOf.add(Data(26.81734916434496,112.58408728482055,240.92852422293498 ,10.946569))
mutableListOf.add(Data(26.817300427653745,112.58398997361219,239.22969225181274 ,11.08842))
mutableListOf.add(Data(26.81724905918242,112.58389508879584,237.37255015610793 ,10.959397))
mutableListOf.add(Data(26.817195687670125,112.58380236411111,236.10377421588638 ,10.868602))
mutableListOf.add(Data(26.817141281661353,112.58371061366645,235.69349841282204 ,10.867909))
mutableListOf.add(Data(26.81708765945191,112.58361944929223,236.51455545294928 ,10.751019))
mutableListOf.add(Data(26.817037237801387,112.58352946632557,238.18176364821437 ,10.172699))
mutableListOf.add(Data(26.816991758745935,112.58344394169914,238.81318731622537 ,9.476438))
mutableListOf.add(Data(26.81695008311907,112.58336549123571,238.35449913232398 ,8.670373))
mutableListOf.add(Data(26.816911519966908,112.58329384142816,238.00583163557317 ,7.9418206))
mutableListOf.add(Data(26.816875769929663,112.58322842149074,237.9069304963914 ,7.250271))
mutableListOf.add(Data(26.816842700317792,112.58316889814716,237.12501044020834 ,6.608085))
mutableListOf.add(Data(26.816812547895015,112.58311627111057,236.47424367646786 ,5.8385525))
mutableListOf.add(Data(26.81678497120257,112.58306956006162,235.61325735045273 ,5.1207457))
mutableListOf.add(Data(26.816762161812772,112.58303220941076,235.7694501163926 ,3.907349))
mutableListOf.add(Data(26.816744452403828,112.58300245495224,236.2325232817411 ,3.0969348))
mutableListOf.add(Data(26.816731497575027,112.58298000037128,236.6114211957584 ,2.2574704 ))
mutableListOf.add(Data(26.816722462577506,112.58296434850722,236.4161051062527 ,1.5331981 ))
mutableListOf.add(Data(26.816716398581754,112.5829537450492,236.21764712972882 ,1.0040071 ))
mutableListOf.add(Data(26.816712164282283,112.5829466272515,236.12834923652008 ,0.737751 ))
mutableListOf.add(Data(26.816193817151735,112.58251966330332,54.59367562577165 ,0.018921295))
mutableListOf.add(Data(26.816193817151735,112.58251966330332,54.59367562577165 ,0.018921295))
mutableListOf.add(Data(26.816193817151735,112.58251966330332,54.59367562577165 ,0.018921295))
mutableListOf.add(Data(26.81619396445322,112.58251998494924,54.613592457391405 ,0.027000831))
mutableListOf.add(Data(26.81619407811497,112.58252024223145,54.669067253830235 ,-0.0011194336))
mutableListOf.add(Data(26.816195171832447,112.582522095685,54.64187627074443 ,0.612925))
mutableListOf.add(Data(26.816204331708672,112.58253646642525,53.960872259548296 ,2.6901135))
mutableListOf.add(Data(26.816223192189753,112.58256468184578,51.595331863162755 ,4.345004))
mutableListOf.add(Data(26.816251222259027,112.5826029300781,49.506195562109326 ,5.6220856))
mutableListOf.add(Data(26.816287694595495,112.58265190405298,50.01768110829488 ,7.31063))
mutableListOf.add(Data(26.816332750019175,112.58271403398732,50.59955858406664 ,8.614218))
mutableListOf.forEach {
val wgS84ToGCJ02 = CoordinateTransform.GCJ02ToWGS84(it.a2,it.a1)
println("{\"localTime\":1694072487989,\"class\":\"MoGoAdasListenerImpl\",\"msg\":{\"GnssInfo\":{\"longitude\": ${wgS84ToGCJ02[0]},\"latitude\": ${wgS84ToGCJ02[1]},\"altitude\": 26.97,\"heading\": ${it.heading},\"acceleration\": 0.33836419161950765,\"yawRate\": 0.00300991842921123,\"gnssSpeed\": ${it.speed},\"vehicleSpeed\": 15.375,\"satelliteTime\": 1.69407248798E9,\"systemTime\": 1.6940724879893079E9},\"traceInfo\":{\"endPoint\":true,\"linkChainLog\":1,\"linkCode\":1,\"methodName\":\"onGnssInfo\",\"nodeAliasCode\":\"CHAIN_CODE_ADAS_CAR_LOC\",\"paramIndexes\":[0,1],\"parentNodeAliasCode\":\"\",\"recordDataChange\":true,\"spanId\":null,\"traceId\":null},\"Header\":{\"msgID\": 160606,\"msgType\": \"MsgTypeGnssInfo\",\"timestamp\": 1.6940724879929435E9,\"sourceTimestamp\": 1.69407248798E9}}}")
}
}
data class Data(val a1:Double,val a2:Double,val heading:Double,val speed:Double)
}

4
OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
View File

@@ -561,7 +561,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
smallMapView.setVisibility(View.GONE);
} else {
mCloseNaviIcon.setVisibility(View.GONE);
flNaviPanelContainer.setVisibility(View.GONE);
flNaviPanelContainer.setVisibility(View.INVISIBLE);
smallMapView.setVisibility(View.VISIBLE);
}
}
@@ -605,7 +605,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
} else {
closeRouteViewIFHadeAdd();
mCloseNaviIcon.setVisibility(View.GONE);
flNaviPanelContainer.setVisibility(View.GONE);
flNaviPanelContainer.setVisibility(View.INVISIBLE);
smallMapView.setVisibility(View.VISIBLE);
}
}

20
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
View File

@@ -31,7 +31,6 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.i
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.*
import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManager
import com.mogo.och.common.module.biz.common.socketmessage.data.OCHOperationalMessage
@@ -119,7 +118,7 @@ object TaxiTaskModel {
private var mPrepareTaskDelayRunnable: Runnable? = null
private var mIsArrivedSiteTag = false //到站标志位,防止围栏触发多次调用到站接口
private var mIsArrivedSiteStartTag = false //到站接口请求标志位,防止围栏触发多次调用到站接口, true 接口请求, false : 接口请求完成
fun addTaskWithOrderListener(tag: String, listener: ITaxiTaskWithOrderCallback) {
if (mTaxiTaskWithOrderCallbackMap.containsKey(tag)) {
@@ -557,12 +556,12 @@ object TaxiTaskModel {
siteId: Long, isArriveAtEndSite: Boolean,
isArrivedNearestStation: Boolean = false
) {
if (mIsArrivedSiteTag) {
if (mIsArrivedSiteStartTag) {
DebugView.printInfoMsg("arriveSite接口正在调用中")
i(TAG, message = "arriveSite接口正在调用中 mIsArrivedSite = $mIsArrivedSiteTag")
i(TAG, message = "arriveSite接口正在调用中 mIsArrivedSite = $mIsArrivedSiteStartTag")
return
}
mIsArrivedSiteTag = true
mIsArrivedSiteStartTag = true
DebugView.printInfoMsg("[上报ArriveSite] siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
i(TAG, message = "submitArriveSite: siteId=$siteId isArriveAtEndSite=$isArriveAtEndSite")
TaxiTaskWithOrderServiceManager.arriveSite(
@@ -570,8 +569,10 @@ object TaxiTaskModel {
siteId,
object : OchCommonServiceCallback<BaseData> {
override fun onSuccess(data: BaseData?) {
mIsArrivedSiteTag = false
if (data == null || data.code != 0) return
if (data == null || data.code != 0) {
mIsArrivedSiteStartTag = false
return
}
DebugView.printInfoMsg("[上报ArriveSite] success siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
d(TAG, "submitArriveSite-onSuccess data=" + GsonUtil.jsonFromObject(data))
mDriveToNearestStationTask = null
@@ -587,7 +588,7 @@ object TaxiTaskModel {
override fun onError() {
super.onError()
mIsArrivedSiteTag = false
mIsArrivedSiteStartTag = false
if (!NetworkUtils.isConnected(mContext)) { // 网络异常,接口重试
ToastUtils.showShort("网络出现异常,请稍后重试")
DebugView.printErrorMsg("[上报ArriveSite] 网络出现异常,请稍后重试")
@@ -598,7 +599,7 @@ object TaxiTaskModel {
}
override fun onFail(code: Int, msg: String?) {
mIsArrivedSiteTag = false
mIsArrivedSiteStartTag = false
DebugView.printErrorMsg("[上报ArriveSite] failed, code=$code, msg=$msg")
d(TAG, "code=$code msg=$msg")
ToastUtils.showShort("到站接口请求出现异常,请稍后重试,code=$code msg=$msg")
@@ -718,6 +719,7 @@ object TaxiTaskModel {
//注意: 需要去除到达乘客上车点的节点, 这个节点不拉取任务
if (result.currentStatus == TaskStatusEnum.CompleteTask.code
) {
mIsArrivedSiteStartTag = false //任务完成说明到站, 更新到站标识位, 不再到站接口请求成功更新
mADASStatusCallback?.updateAutopilotStatus()
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value