yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[清扫车]收集人工驾驶子任务轨迹点逻辑问题处理

Browse Source
This commit is contained in:
bxb
2023-03-17 19:42:50 +08:00
parent 43e0764ed1
commit 4e7771400e
1 changed files with 4 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
View File

@@ -28,7 +28,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListener
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
import com.mogo.eagle.core.utilcode.util.NetworkUtils;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.eagle.core.utilcode.util.ToastUtils;
import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManager;
import com.mogo.och.common.module.biz.common.socketmessage.data.OCHOperationalMessage;
@@ -192,7 +191,7 @@ public class SweeperTaskModel {
@Override
public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
if (null != routeList && routeList.getWayPointsList().size() > 0) {
if (null != routeList && routeList.getWayPointsList()!=null&&routeList.getWayPointsList().size() > 0) {
if (mCurrentSubTaskDetail.getLineId() != mLineId) {//判断是否同一条路线
mLineId = mCurrentSubTaskDetail.getLineId();
points.addAll(coordinateConverterWgsToGcjList(mContext, routeList.getWayPointsList()));
@@ -311,8 +310,6 @@ public class SweeperTaskModel {
+ ", mLatitude=" + gnssInfo.getLatitude() + ", mSubTaskType=" + mSubTaskType +", mIsSubTaskWorking=" + mIsSubTaskWorking
+ ", isAutopilotSubTaskArriveEndSite=" + isAutopilotSubTaskArriveEndSite
);
mLongitude = gnssInfo.getLongitude();
mLatitude = gnssInfo.getLatitude();
if (mControllerStatusCallback != null) {
mControllerStatusCallback.onCarLocationChanged(gnssInfo);
}
@@ -335,12 +332,10 @@ public class SweeperTaskModel {
private void addCoordinates(MogoLocation mogoLatLng) {
String tempLongitude = NumberFormatUtil.cutOutNumber(mogoLatLng.getLongitude(), 5);
String tempLatitude = NumberFormatUtil.cutOutNumber(mogoLatLng.getLatitude(), 5);
String latitude = NumberFormatUtil.cutOutNumber(points.get(points.size()-1).latitude, 5);
String longitude = NumberFormatUtil.cutOutNumber(points.get(points.size()-1).longitude, 5);
//用于过滤车是否停在原地，经纬度相同的情况
if (!tempLongitude.equals(longitude) && !tempLatitude.equals(latitude)) {
if (!tempLongitude.equals(mLongitude) && !tempLatitude.equals(mLatitude)) {
mLongitude = mogoLatLng.getLongitude();
mLatitude = mogoLatLng.getLatitude();
SweeperRoutePlanningUpdateReqBean.Result result = new SweeperRoutePlanningUpdateReqBean.Result();
result.latitude = mogoLatLng.getLatitude();
result.longitude = mogoLatLng.getLongitude();