From 33aedd3aef6af32d3c5989abe0faeeb713b6ecd8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E8=91=A3=E5=AE=8F=E5=AE=87?= Date: Wed, 25 Nov 2020 16:39:34 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E4=BA=86=E9=81=93=E8=B7=AF?= =?UTF-8?q?=E4=BA=8B=E4=BB=B6=E7=9A=84=E8=A7=A6=E5=8F=91=E7=AE=97=E6=B3=95?= =?UTF-8?q?=EF=BC=8C=E4=B8=BB=E8=A6=81=E5=88=86=E4=B8=BA=E4=BB=A5=E4=B8=8B?= =?UTF-8?q?=E6=AD=A5=E9=AA=A4=EF=BC=9A=20=E8=A7=A6=E5=8F=91=E9=81=93?= =?UTF-8?q?=E8=B7=AF=E4=BA=8B=E4=BB=B6=E7=9A=84=E6=9D=A1=E4=BB=B6=EF=BC=9A?= =?UTF-8?q?=200=E3=80=81=E9=81=93=E8=B7=AF=E4=BA=8B=E4=BB=B6=E5=BF=85?= =?UTF-8?q?=E9=A1=BB=E6=9C=89=E6=9C=9D=E5=90=91=EF=BC=8C=E8=A7=92=E5=BA=A6?= =?UTF-8?q?>=3D0;=201=E3=80=81=E8=B7=9D=E7=A6=BB=E3=80=8A500=202=E3=80=81?= =?UTF-8?q?=E9=81=93=E8=B7=AF=E4=BA=8B=E4=BB=B6=E6=96=B9=E5=90=91=E4=B8=8E?= =?UTF-8?q?=E5=BD=93=E5=89=8D=E8=A1=8C=E9=A9=B6=E6=96=B9=E5=90=91=E8=A7=92?= =?UTF-8?q?=E5=BA=A6=E5=81=8F=E3=80=8A20=E5=BA=A6=E4=BB=A5=E5=86=85=203?= =?UTF-8?q?=E3=80=81=E5=BD=93=E5=89=8D=E8=BD=A6=E8=BE=86=E8=A1=8C=E9=A9=B6?= =?UTF-8?q?=E6=96=B9=E5=90=91=E4=B8=8E=E4=BA=8B=E4=BB=B6=E4=BD=8D=E7=BD=AE?= =?UTF-8?q?=E4=B9=8B=E9=97=B4=E5=A4=B9=E8=A7=92=E3=80=8A20=E5=BA=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../mogo/module/v2x/alarm/V2XAlarmServer.java | 132 ++++++++++-------- .../v2x/alarm/V2XEarlyWarningServer.java | 71 ++++++---- .../v2x/listener/V2XLocationListener.java | 14 +- .../manager/impl/MoGoV2XMarkerManager.java | 4 +- .../v2x/receiver/SceneBroadcastReceiver.java | 2 +- .../v2x/scenario/impl/V2XScenarioManager.java | 2 +- .../v2x/utils/DrivingDirectionUtils.java | 50 ++++--- 7 files changed, 156 insertions(+), 119 deletions(-) diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XAlarmServer.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XAlarmServer.java index 69f7e979a8..f0a32200d3 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XAlarmServer.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XAlarmServer.java @@ -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 diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XEarlyWarningServer.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XEarlyWarningServer.java index 80c91f14f8..94fa20a857 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XEarlyWarningServer.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XEarlyWarningServer.java @@ -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 alertMessageId = new ArrayList<>(); + private static ArrayList 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 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 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); } } } diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XLocationListener.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XLocationListener.java index 584671293c..b5104f1925 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XLocationListener.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XLocationListener.java @@ -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() { @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> entity = new V2XMessageEntity<>(); diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java index de02286a2b..c7a66a11af 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java @@ -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) { diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/SceneBroadcastReceiver.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/SceneBroadcastReceiver.java index 40ec88c69b..dd3773819e 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/SceneBroadcastReceiver.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/SceneBroadcastReceiver.java @@ -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(); diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java index 86f303b9a6..a81d3afe76 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java @@ -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(() -> { diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/DrivingDirectionUtils.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/DrivingDirectionUtils.java index f045b6d0c1..bd48e3f2ff 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/DrivingDirectionUtils.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/DrivingDirectionUtils.java @@ -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); } - }