From 52a9f3af56b1464a5d83e2d688a4d5bb5c2c9a94 Mon Sep 17 00:00:00 2001
From: zhongchao <zhongchao@zhidaoauto.com>
Date: Mon, 29 Aug 2022 18:56:47 +0800
Subject: [PATCH] fix bug of traffic light and change the color of tracker

---
 .../map/identify/IdentifyOriginDataDrawer.kt     |  2 +-
 .../core/function/map/identify/TrackManager.java |  2 +-
 .../core/function/map/identify/TrackObj.java     | 16 ++++++++++------
 .../eagle/core/data/trafficlight/RoadArrow.kt    |  2 +-
 4 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
index 306aa28b3b..343bbd8449 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
@@ -185,7 +185,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
                     if (subFirst.isPresent) {
                         val subID = subFirst.get().id
                         if (!TextUtils.isEmpty(subID)) {
-                            temp = data.toBuilder().setColor("#4CA6E2FF").build()
+                            temp = data.toBuilder().setColor("#36D3FE").build()
                             if (obuWarningTrafficData.containsKey(subID)) {
                                 temp = data.toBuilder()
                                     .setColor(obuWarningTrafficData[subID]!!.threatLevelColor())
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
index 7fbe96cb41..dfccf31eb5 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
@@ -140,7 +140,7 @@ public class TrackManager {
                 if (subFirst.isPresent()) {
                     String subID = subFirst.get().getId();
                     if (!TextUtils.isEmpty(subID)) {
-                        data = data.toBuilder().setColor("#4CA6E2FF").build();
+                        data = data.toBuilder().setColor("#36D3FE").build();
                         if (obuWarningTrafficData.containsKey(subID)) {
                             data = data.toBuilder()
                                     .setColor(TrafficDataKt.threatLevelColor(obuWarningTrafficData.get(subID)))
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java
index 56eb92db96..3ac2e0cddd 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java
@@ -26,7 +26,7 @@ public class TrackObj {
     private S2LatLng s2LatLng; //s2 经纬度
     private double recentlyTime;  //用于缓存帧数判断，暂定缓存1秒数据，中间如果有物体未出现，1秒后删除
     private double roadAngle;   //道路航向
-//    private double headingDelta; //航向角德尔塔
+    //    private double headingDelta; //航向角德尔塔
     private int[] typeArray = new int[3];
     private int typeWeight;   //类型权重
     private double lat;
@@ -175,10 +175,10 @@ public class TrackObj {
     }
 
     public boolean relativeStatic() {
-        if(speedAverage < LIMIT_SPEED){
-            Log.d("emArrow-Track","relativeStatic return" + " , uuid : " + cacheData.getUuid());
+        if (speedAverage < LIMIT_SPEED) {
+//            Log.d("emArrow-Track", "relativeStatic return" + " , uuid : " + cacheData.getUuid());
             return true;
-        }else{
+        } else {
             return isInRange();
         }
     }
@@ -193,8 +193,12 @@ public class TrackObj {
             return false;
         }
         double dis = CoordinateUtils.calculateLineDistance(center[0], center[1], cacheData.getLongitude(), cacheData.getLatitude());
-//        Log.d("emArrow-Track", "uuid : " + cacheData.getUuid()  + " , type : " +  cacheData.getType() + " , list size : " + objQueueList.size() + " , dis : " + dis);
-        return dis < 0.3;
+//        Log.d("emArrow-Track", "uuid : " + cacheData.getUuid() + " , type : " + cacheData.getType() + " , list size : " + objQueueList.size() + " , dis : " + dis);
+        if (cacheData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS.getType() || cacheData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK.getType()) {
+            return dis <= 0.8;
+        } else {
+            return dis <= 0.3;
+        }
     }
 
     public boolean isFourWheelType() {
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt
index d2dc51943c..765824cbd7 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt
@@ -10,7 +10,7 @@ class RoadArrow {
         private const val STRAIGHT_OR_U_TURN = 204  //直行转向
         private const val TURN_LEFT = 205           //左转
         private const val TURN_LEFT_OR_U_TURN = 206 //左转或转向
-        private const val TURN_RIGHT = 206          //右转
+        private const val TURN_RIGHT = 208          //右转
         private const val TURN_LEFT_OR_RIGHT = 210  //左右转向
         const val U_TURN = 211                      //转向