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优化了道路事件的触发算法，主要分为以下步骤：

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触发道路事件的条件：
0、道路事件必须有朝向，角度>=0;
1、距离《500
2、道路事件方向与当前行驶方向角度偏《20度以内
3、当前车辆行驶方向与事件位置之间夹角《20度
This commit is contained in:
董宏宇
2020-11-25 16:39:34 +08:00
parent b085e49cc9
commit 33aedd3aef
7 changed files with 156 additions and 119 deletions
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132
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XAlarmServer.java
View File

@@ -76,78 +76,94 @@ public class V2XAlarmServer {
// 检测道路事件是否需UGC问答
V2XEarlyWarningServer.roadEventUgcCheck(currentLocation);
}
// Logger.w(MODULE_NAME, "V2X预警--车辆状态：" + currentLocation);
// Logger.w(MODULE_NAME, "V2X预警--车辆速度：" + currentLocation.getSpeed());
// Logger.w(MODULE_NAME, "V2X预警--v2XRoadEventEntityList：" + GsonUtil.jsonFromObject(v2XRoadEventEntityList));
// 60(km/h)
if (currentLocation != null && v2XRoadEventEntityList != null) {
// 因为集合是按照距离排序后的所以这里检索出来第一个就发出警告
for (V2XRoadEventEntity v2XRoadEventEntity : v2XRoadEventEntityList) {
// 先计算当前车辆的车头朝向是否与事件方向相同，这里采用的是区间值，只要在20度上下即可使用
// 道路事件必须有朝向，角度>=0;
//Logger.w(MODULE_NAME,
// "V2X预警--车辆与事件信息：" +
// "\n事件名称：" + markerNoveltyInfo.getNoveltyInfo().getContentData().getTitle() +
// "\n事件角度：" + markerNoveltyInfo.getLocation().getAngle() +
// "\n车头角度：" + currentLocation.getAngle() +
// "\n角度差值：" + Math.abs(currentLocation.getAngle() - markerNoveltyInfo.getLocation().getAngle()));
// 0、道路事件必须有朝向，角度>=0;
if (v2XRoadEventEntity.getLocation().getAngle() >= 0) {
// 计算车辆距离指定气泡的距离
MarkerLocation eventLocation = v2XRoadEventEntity.getLocation();
// 判断是否到达了触发距离,20 ~ 500,
// 1、判断是否到达了触发距离,20 ~ 500,
if (v2XRoadEventEntity.getDistance() <= 500) {
double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
currentLocation.getLongitude(),
currentLocation.getLatitude(),
eventLocation.getLon(),
eventLocation.getLat(),
(int) currentLocation.getBearing()
);
if (0 <= eventAngle && eventAngle <= 20) {
// 判断是否已经提示过道路事件
boolean isAlreadyAlert = false;
String lastTime = mAlertRoadEventList.get(v2XRoadEventEntity);
if (!TextUtils.isEmpty(lastTime)) {
long timeSpan = TimeUtils.getTimeSpanByNow(lastTime, TimeConstants.MIN);
// 2、道路事件方向与当前行驶方向角度偏差《20度以内
double carBearing = currentLocation.getBearing();
double eventBearing = eventLocation.getAngle();
double diffAngle = DrivingDirectionUtils.getAngleDiff(carBearing, eventBearing);
if (diffAngle < 20) {
// 3、计算当前车辆行驶方向与事件位置之间夹角《20度，保证道路事件在车辆前方
double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
currentLocation.getLongitude(),
currentLocation.getLatitude(),
eventLocation.getLon(),
eventLocation.getLat(),
(int) currentLocation.getBearing()
);
if (0 <= eventAngle && eventAngle <= 20) {
// 判断是否已经提示过道路事件
boolean isAlreadyAlert = false;
String lastTime = mAlertRoadEventList.get(v2XRoadEventEntity);
if (!TextUtils.isEmpty(lastTime)) {
long timeSpan = TimeUtils.getTimeSpanByNow(lastTime, TimeConstants.MIN);
// Logger.w(MODULE_NAME,
// "V2X预警--事件ID：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
// "\n上一次预警时间：" + lastTime +
// "\n距离当前时间：" + timeSpan);
// 5分钟内不重复提醒
if (timeSpan < 5) {
isAlreadyAlert = true;
// 5分钟内不重复提醒
if (timeSpan < 5) {
isAlreadyAlert = true;
}
}
// 进行提醒
if (!isAlreadyAlert) {
Logger.w(MODULE_NAME, "V2X预警--车辆与事件信息：" +
"\n事件详情ID：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
"\n事件详情：" + GsonUtil.jsonFromObject(v2XRoadEventEntity.getNoveltyInfo()) +
"\n距离：" + v2XRoadEventEntity.getDistance() + "米" +
"\n是否已经提醒：" + isAlreadyAlert +
"\n当前车辆-经度：" + currentLocation.getLongitude() +
"\n当前车辆-经度：" + currentLocation.getLatitude() +
"\n当前车辆-角度：" + currentLocation.getBearing() +
"\n道路事件-经度：" + eventLocation.getLon() +
"\n道路事件-经度：" + eventLocation.getLat() +
"\n道路事件-角度：" + eventLocation.getAngle() +
"\n夹角角度：" + eventAngle + " 度"
);
mAlertRoadEventList.put(v2XRoadEventEntity, TimeUtils.getNowString());
return v2XRoadEventEntity;
}
return null;
} else {
// Logger.w(MODULE_NAME, "V2X预警--事件与车头角度夹角过大：" +
// "\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
// "\n当前车辆-经度：" + currentLocation.getLongitude() +
// "\n当前车辆-经度：" + currentLocation.getLatitude() +
// "\n当前车辆-角度：" + currentLocation.getBearing() +
// "\n道路事件-经度：" + eventLocation.getLon() +
// "\n道路事件-经度：" + eventLocation.getLat() +
// "\n道路事件-角度：" + eventLocation.getAngle() +
// "\n夹角角度：" + eventAngle + " 度"
// );
}
Logger.w(MODULE_NAME, "V2X预警--车辆与事件信息：" +
"\n距离：" + v2XRoadEventEntity.getDistance() + "米" +
"\n是否已经提醒：" + isAlreadyAlert +
"\n事件ID：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
"\n事件详情：" + GsonUtil.jsonFromObject(v2XRoadEventEntity.getNoveltyInfo())
);
// 进行提醒
if (!isAlreadyAlert) {
mAlertRoadEventList.put(v2XRoadEventEntity, TimeUtils.getNowString());
return v2XRoadEventEntity;
}
return null;
} else {
Logger.w(MODULE_NAME, "V2X预警--事件与车头角度夹角过大：" +
"\n角度：" + eventAngle + " 度" +
"\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId()
Logger.w(MODULE_NAME,
"V2X预警--车头方向与事件方向角度不一致：" +
"\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
"\n车头方向： " + carBearing +
"\n事件方向：" + eventBearing +
"\n角度差值：" + diffAngle
);
}
} else {
Logger.w(MODULE_NAME, "V2X预警--车辆距离事件距离大于500米了：" +
"\n距离：" + v2XRoadEventEntity.getDistance() + "米" +
"\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId()
);
// Logger.w(MODULE_NAME, "V2X预警--车辆距离事件距离大于500米了：" +
// "\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
// "\n距离：" + v2XRoadEventEntity.getDistance() + "米"
// );
}
} else {
Logger.w(MODULE_NAME,
"V2X预警--车头方向与事件方向角度不一致：" +
"\n车头方向： " + currentLocation.getBearing() +
"\n事件方向：" + v2XRoadEventEntity.getLocation().getAngle()
Logger.e(MODULE_NAME,
"V2X预警--道路事件没有角度信息" +
"\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId()
);
}
}
@@ -189,11 +205,11 @@ public class V2XAlarmServer {
switch (levelListBean.getLevel()) {
//正常
case "NORMAL":
Logger.d(MODULE_NAME, "驾驶疲劳程度: 正常");
//Logger.d(MODULE_NAME, "驾驶疲劳程度: 正常");
break;
//轻度
case "SLIGHT":
Logger.w(MODULE_NAME, "驾驶疲劳程度: 轻度");
//Logger.w(MODULE_NAME, "驾驶疲劳程度: 轻度");
if (!mV2XFatigueDrivingEventLevel.contains("SLIGHT")) {
mV2XFatigueDrivingEventLevel.add("SLIGHT");
drivingShowEntity.setShowWindow(false);
@@ -208,15 +224,15 @@ public class V2XAlarmServer {
break;
//中度
case "MODERATE":
Logger.e(MODULE_NAME, "驾驶疲劳程度: 中度");
//Logger.e(MODULE_NAME, "驾驶疲劳程度: 中度");
warningParkPoi(location, onFatigueDrivingListener, drivingShowEntity, levelListBean);
break;
//重度
case "SEVERE":
Logger.e(MODULE_NAME, "驾驶疲劳程度: 重度");
//Logger.e(MODULE_NAME, "驾驶疲劳程度: 重度");
break;
default:
Logger.e(MODULE_NAME, "驾驶疲劳程度: 超出定义范围");
//Logger.e(MODULE_NAME, "驾驶疲劳程度: 超出定义范围");
break;
}
}
@@ -238,7 +254,7 @@ public class V2XAlarmServer {
LocationUtils.geoCodeSearch(location, new IMogoGeoSearchListener() {
@Override
public void onRegeocodeSearched(MogoRegeocodeResult regeocodeResult) {
Logger.i(MODULE_NAME, "根据经纬度查询结果为：" + regeocodeResult.getRegeocodeAddress().getFormatAddress());
//Logger.i(MODULE_NAME, "根据经纬度查询结果为：" + regeocodeResult.getRegeocodeAddress().getFormatAddress());
String keyword = "停车场";
boolean isHighWay = false;
// 如果当前位置是高速则推荐服务区

71
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XEarlyWarningServer.java
View File

@@ -4,22 +4,18 @@ import android.content.Intent;
import androidx.localbroadcastmanager.content.LocalBroadcastManager;
import com.mogo.map.MogoLatLng;
import com.mogo.map.location.MogoLocation;
import com.mogo.module.common.entity.MarkerLocation;
import com.mogo.module.common.entity.V2XMessageEntity;
import com.mogo.module.common.entity.V2XRoadEventEntity;
import com.mogo.module.v2x.V2XConst;
import com.mogo.module.v2x.V2XServiceManager;
import com.mogo.module.v2x.utils.DrivingDirectionUtils;
import com.mogo.module.v2x.utils.EventTypeUtils;
import com.mogo.module.v2x.utils.V2XUtils;
import com.mogo.service.share.IMogoTanluProvider;
import com.mogo.service.share.TanluUploadParams;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.utils.GsonUtil;
import java.util.ArrayList;
import java.util.List;
import java.util.Set;
import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
@@ -30,7 +26,7 @@ import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
public class V2XEarlyWarningServer {
private static final String TAG = "V2XEarlyWarningServer";
private static List<String> alertMessageId = new ArrayList<>();
private static ArrayList<String> alertMessageId = new ArrayList<>();
/**
* 对提醒过的道路事件进行UGC检测
@@ -54,37 +50,50 @@ public class V2XEarlyWarningServer {
(int) currentLocation.getBearing()
);
// 判断车辆行驶角度是否与事件相反，相反的话表示已经行驶过去了
if (90 <= eventAngle && !alertMessageId.contains(v2XRoadEventEntity.getNoveltyInfo().getInfoId())) {
// 封路、施工、拥堵、拥堵 才会有UGC提示
if (EventTypeUtils.isNeedRoadEventUgc(v2XRoadEventEntity.getPoiType())) {
double carBearing = currentLocation.getBearing();
String roadInfoId = v2XRoadEventEntity.getNoveltyInfo().getInfoId();
Logger.w(MODULE_NAME + "_" + TAG, "V2X预警UGC--事件与车头角度夹角过大：" +
"\n角度：" + eventAngle + " 度" +
"\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
"\n库存事件：" + V2XAlarmServer.mAlertRoadEventList.size()
);
Logger.w(MODULE_NAME,
"V2X预警--UGC检测：" +
"\n事件详情：" + roadInfoId +
"\n车头方向： " + carBearing +
"\n车与事件夹角：" + eventAngle +
"\n已经UGC的事件：" + GsonUtil.jsonFromObject(alertMessageId)
);
// 记录已经 UGC 提醒过的数据
alertMessageId.add(v2XRoadEventEntity.getNoveltyInfo().getInfoId());
// 判断是否预警过了
if (!alertMessageId.contains(roadInfoId)) {
// 判断车辆行驶角度是否与事件相反，相反的话表示已经行驶过去了
if (80 <= eventAngle) {
// 封路、施工、拥堵、拥堵 才会有UGC提示
if (EventTypeUtils.isNeedRoadEventUgc(v2XRoadEventEntity.getPoiType())) {
Logger.w(MODULE_NAME + "_" + TAG, "V2X预警UGC--事件与车头角度夹角过大：" +
"\n角度：" + eventAngle + " 度" +
"\n事件详情：" + roadInfoId +
"\n库存事件：" + V2XAlarmServer.mAlertRoadEventList.size()
);
// 加载数据源
V2XMessageEntity<V2XRoadEventEntity> v2xMessageEntity = new V2XMessageEntity<>();
// 控制类型
v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_EVENT_UGC_WARNING);
// 设置数据
v2xMessageEntity.setContent(v2XRoadEventEntity);
// 控制展示状态
v2xMessageEntity.setShowState(true);
// 弹出UGC
Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2xMessageEntity);
LocalBroadcastManager.getInstance(V2XUtils.getApp()).sendBroadcast(intent);
// 记录已经 UGC 提醒过的数据
alertMessageId.add(roadInfoId);
// 加载数据源
V2XMessageEntity<V2XRoadEventEntity> v2xMessageEntity = new V2XMessageEntity<>();
// 控制类型
v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_EVENT_UGC_WARNING);
// 设置数据
v2xMessageEntity.setContent(v2XRoadEventEntity);
// 控制展示状态
v2xMessageEntity.setShowState(true);
// 弹出UGC
Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2xMessageEntity);
LocalBroadcastManager.getInstance(V2XUtils.getApp()).sendBroadcast(intent);
}
// 移出已经预警的事件列表
//V2XAlarmServer.mAlertRoadEventList.remove(v2XRoadEventEntity);
}
// 移出已经预警的事件列表
//V2XAlarmServer.mAlertRoadEventList.remove(v2XRoadEventEntity);
}
}
}

14
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XLocationListener.java
View File

@@ -154,11 +154,11 @@ public class V2XLocationListener implements IMogoLocationListener, CarStatusList
V2XServiceManager.getV2XStatusManager().getLocation());
// 距离是否大于10米 && 消息是否不为空
if (v2XRoadEventEntity != null && v2XRoadEventEntity.getDistance() >= 5) {
Logger.w(MODULE_NAME,
//"\nV2X预警--当前导航状态:" + V2XServiceManager.getNavi().isNaviing() +
//"\nV2X预警--roadEventIsNullCount:" + roadEventIsNullCount +
"\nV2X预警--当前预警事件:" + v2XRoadEventEntity
);
// Logger.w(MODULE_NAME,
// //"\nV2X预警--当前导航状态:" + V2XServiceManager.getNavi().isNaviing() +
// //"\nV2X预警--roadEventIsNullCount:" + roadEventIsNullCount +
// "\nV2X预警--当前预警事件:" + v2XRoadEventEntity
// );
// Logger.w(MODULE_NAME, "V2X预警--前方数据距离:" + v2XRoadEventEntity.getDistance());
// 触发展示操作
TrackUtils.trackV2xRoadProduceEvent(1);
@@ -229,7 +229,7 @@ public class V2XLocationListener implements IMogoLocationListener, CarStatusList
LocationUtils.geoCodeSearch(location, new IMogoGeoSearchListener() {
@Override
public void onRegeocodeSearched(MogoRegeocodeResult regeocodeResult) {
Logger.i(MODULE_NAME, " 根据经纬度查询结果为：" + regeocodeResult.getRegeocodeAddress().getFormatAddress());
//Logger.i(MODULE_NAME, " 根据经纬度查询结果为：" + regeocodeResult.getRegeocodeAddress().getFormatAddress());
location.setAddress(regeocodeResult.getRegeocodeAddress().getFormatAddress());
// 如果有 "高速"、"环线"、"快速路"等字眼的，视为封闭式道路，流程结束；
if (regeocodeResult.getRegeocodeAddress().getFormatAddress().contains("高速")
@@ -257,7 +257,7 @@ public class V2XLocationListener implements IMogoLocationListener, CarStatusList
.queryIllegalPark(new V2XRefreshCallback<MarkerResponse>() {
@Override
public void onSuccess(MarkerResponse result) {
Logger.i(MODULE_NAME, "搜索附近的违章停车点 成功：" + GsonUtil.jsonFromObject(result));
//Logger.i(MODULE_NAME, "搜索附近的违章停车点 成功：" + GsonUtil.jsonFromObject(result));
if (result != null) {
if (result.getResult().getExploreWay().size() > 0) {
V2XMessageEntity<List<MarkerExploreWay>> entity = new V2XMessageEntity<>();

4
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java
View File

@@ -60,7 +60,7 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
@Override
public void drawableLastAllPOI() {
Logger.w(MODULE_NAME, "V2X---绘制上一次的POI，回调给Launcher底层逻辑让其进行绘制");
//Logger.w(MODULE_NAME, "V2X---绘制上一次的POI，回调给Launcher底层逻辑让其进行绘制");
// 清除连接线
V2XServiceManager.getMoGoV2XPolylineManager().clearLine();
clearAlarmPOI();
@@ -521,7 +521,7 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
try {
V2XServiceManager.getMapUIController().changeMapMode(EnumMapUI.NorthUP_2D);
V2XServiceManager.getMoGoV2XStatusManager().setRoadEventPOIShow(TAG, true);
Logger.i(MODULE_NAME, "绘制道路事件====drawableAlarmPOI：");
//Logger.i(MODULE_NAME, "绘制道路事件====drawableAlarmPOI：");
// 清除原来的大而全的新鲜事儿
clearALLPOI();
if (roadEventEntity.getLocation() != null) {

2
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/SceneBroadcastReceiver.java
View File

@@ -23,7 +23,7 @@ public class SceneBroadcastReceiver extends BroadcastReceiver {
public void onReceive(Context context, Intent intent) {
try {
V2XMessageEntity v2XMessageEntity = (V2XMessageEntity) intent.getSerializableExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY);
Logger.d(TAG, "v2XMessageEntity:" + GsonUtil.jsonFromObject(v2XMessageEntity));
//Logger.d(TAG, "v2XMessageEntity:" + GsonUtil.jsonFromObject(v2XMessageEntity));
V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity);
} catch (Exception e) {
e.printStackTrace();

2
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java
View File

@@ -55,7 +55,7 @@ public class V2XScenarioManager implements IV2XScenarioManager {
@Override
public void handlerMessage(V2XMessageEntity v2XMessageEntity) {
Logger.d(MODULE_NAME, "处理V2X场景：" + GsonUtil.jsonFromObject(v2XMessageEntity));
//Logger.d(MODULE_NAME, "处理V2X场景：" + GsonUtil.jsonFromObject(v2XMessageEntity));
synchronized (V2XScenarioManager.class) {
// 展示
V2XUtils.runOnUiThread(() -> {

50
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/DrivingDirectionUtils.java
View File

@@ -1,5 +1,7 @@
package com.mogo.module.v2x.utils;
import static java.lang.Math.PI;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
@@ -22,8 +24,8 @@ public class DrivingDirectionUtils {
public static int getDegreeOfCar2Poi(double carLon, double carLat, double poiLon, double poiLat, int carAngle) {
int poiAngle = 0;
// 以子午线作为y轴 计算两点的余切 再将余切值转化为角度
double _angle = Math.atan2(Math.abs(carLon - poiLon), Math.abs(carLat - poiLat)) * (180 / Math.PI);
double _angle = Math.atan2(Math.abs(carLon - poiLon), Math.abs(carLat - poiLat)) * (180 / PI);
//Log.w(MODULE_NAME, "getDegreeOfCar2Poi_计算车辆行驶方向 与 poi点到车辆的连线 间的夹角_angle===" + _angle);
if (poiLon > carLon) {
// poi 在 车辆位置的第1象限
if (poiLat > carLat) {
@@ -46,9 +48,27 @@ public class DrivingDirectionUtils {
return calculationAngle(poiAngle, carAngle);
}
/**
* 计算两个行驶方向间的夹角 计算结果小于180度
*
* @param angle0
* @param angle1
* @return
*/
public static int calculationAngle(int angle0, int angle1) {
// 获取两方向间夹角
int angle = Math.abs(angle0 - angle1);
if (angle > 180) {
int minAngle = Math.min(angle0, angle1);
int maxAngle = Math.max(angle0, angle1);
return 180 - Math.abs(minAngle + 180 - maxAngle);
} else {
return angle;
}
}
/**
* 计算车辆行驶方向 与 poi点到车辆的连线 间的夹角
* 计算车辆行驶方向角度，起点&终点经纬度
*
* @param carLat 车辆位置 lat
* @param carLon 车辆位置 lon
@@ -58,7 +78,7 @@ public class DrivingDirectionUtils {
public static int getCarAngle(double carLat, double carLon, double poiLat, double poiLon) {
int poiAngle = 0;
// 以子午线作为y轴 计算两点的余切 再将余切值转化为角度
double _angle = Math.atan2(Math.abs(carLon - poiLon), Math.abs(carLat - poiLat)) * (180 / Math.PI);
double _angle = Math.atan2(Math.abs(carLon - poiLon), Math.abs(carLat - poiLat)) * (180 / PI);
if (poiLon > carLon) {
// poi 在 车辆位置的第1象限
@@ -87,23 +107,15 @@ public class DrivingDirectionUtils {
}
/**
* 计算两个行驶方向间的夹角 计算结果小于180度
* 计算连两个角度差值
*
* @param angle0
* @param angle1
* @return
* @param angle1 角度1
* @param angle2 角度2
* @return 差值
*/
public static int calculationAngle(int angle0, int angle1) {
// 获取两方向间夹角
int angle = Math.abs(angle0 - angle1);
if (angle > 180) {
int minAngle = Math.min(angle0, angle1);
int maxAngle = Math.max(angle0, angle1);
return 180 - Math.abs(minAngle + 180 - maxAngle);
} else {
return angle;
}
public static double getAngleDiff(double angle1, double angle2) {
// 两个角度差值较小
return 180 - Math.abs(Math.abs(angle1 - angle2) - 180);
}
}