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[6.5.0][道路事件] 经纬度弄反了，导致绘制不可见

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This commit is contained in:
renwj
2024-07-08 20:47:16 +08:00
parent e0aa56d32c
commit 5bfb239e6e
7 changed files with 68 additions and 25 deletions
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51
app/src/androidTest/java/com/mogo/functions/test/GreenWaveTest.kt → app/src/androidTest/java/com/mogo/functions/test/V2NTest.kt
View File

@@ -6,14 +6,17 @@ import androidx.test.core.app.ActivityScenario
import androidx.test.ext.junit.runners.AndroidJUnit4
import androidx.test.filters.LargeTest
import androidx.test.platform.app.InstrumentationRegistry
import com.google.protobuf.ByteString
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
import com.mogo.eagle.core.function.main.MainLauncherActivity
import com.mogo.eagle.core.utilcode.util.CoordinateUtils
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
import com.mogo.map.MapDataWrapper
import kotlinx.coroutines.delay
import kotlinx.coroutines.runBlocking
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.V2nCrossSpeed
import org.junit.Before
import org.junit.Test
@@ -23,10 +26,10 @@ import java.util.concurrent.TimeUnit
@RunWith(AndroidJUnit4::class)
@LargeTest
class GreenWaveTest {
class V2NTest {
companion object {
private const val TAG = "RoadInfoTest"
private const val TAG = "GreenWaveTest"
}
lateinit var launch: ActivityScenario<MainLauncherActivity>
@@ -74,4 +77,48 @@ class GreenWaveTest {
.build())
delay(TimeUnit.MINUTES.toMillis(10))
}
@Test
fun testPeopleCross(): Unit = runBlocking {
val arguments = InstrumentationRegistry.getArguments()
val millis = arguments.getString("delay", "0").toLong()
if (millis > 0) {
delay(millis)
}
val targetX = arguments.getString("lon", "0").toDouble()
val targetY = arguments.getString("lat", "0").toDouble()
val targetHeading = arguments.getString("angle", "0").toDouble()
val targetDistance = arguments.getString("distance", "0").toDouble()
var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
while (distance > targetDistance) {
delay(2000)
car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
}
Log.d(TAG, "2 -- > target_distance: $targetDistance, current distance: $distance")
var newPoint = DrivingDirectionUtils.calculateNewPoint(targetX, targetY, targetHeading, targetDistance)
Log.d(TAG, "location:[x:${targetX}, y:${targetY}, new_location:[x:${newPoint.first}, y:${newPoint.second}]")
FunctionBuildConfig.isNewV2NData = true
FunctionBuildConfig.v2nMainSwitch = true
val eventId = "xxxxxxxxxxxxx"
for (i in 0 until 500) {
CallerV2nNioEventListenerManager.invokeV2nNioCrossoverEvent(
MessagePad.Event.getDefaultInstance().toBuilder()
.setLongitude(newPoint.first)
.setLatitude(newPoint.second)
.setEventId(eventId)
.setTimestamp(System.currentTimeMillis())
.addAllTargetIds(emptyList())
.addTargetIdsBytes(ByteString.EMPTY)
.addTargetIds("0")
.setExts("{ \"cameraIp\": \"172.18.7.40\" }")
.build())
delay(50)
newPoint = DrivingDirectionUtils.calculateNewPoint(targetX, targetY, targetHeading, 0.5)
}
delay(TimeUnit.MINUTES.toMillis(10))
}
}

19
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
View File

@@ -82,12 +82,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
private const val MSG_WHAT_DRAW_GREEN_WAVE = 0x1014 // 绿波通行
private const val MSG_WHAT_DRAW_PEOPLE_CROSS = 0x1015 // 行人横穿
private val builder_people_cross by lazy {
Point.Options.Builder(V2XConst.V2X_MARKER_OWNER, MAP_MARKER).isUseGps(true).anchorColor("#D65D5AFF").set3DMode(true).icon3DRes(TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.traffic3DIconId)
}
private val markers by lazy { ConcurrentHashMap<String, MarkerWrapper>() }
private val callback = Handler.Callback { msg ->
if (msg.what == MSG_WHAT_DRAW_SHIGONE || msg.what == MSG_WHAT_DRAW_SHIGU) {
val events = msg.obj as? List<*>
@@ -133,8 +127,8 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
val polygon = itx.polygonList.map { Pair.create(it.longitude, it.latitude) }
marker(Marker(id,
poiType,
itx.latitude,
itx.longitude,
itx.latitude,
itx.heading,
polygon,
null,
@@ -254,7 +248,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
AiRoadMarker.aiMakers.getOrPut(id) {
AiRoadMarker().apply {
val poiType = getPoiType(itx.eventType).poiType
marker(Marker(id, poiType, lat, lon, car.heading, null, null,
marker(Marker(id, poiType, lon, lat, car.heading, null, null,
V2XRoadEventEntity().also { e ->
e.poiType = poiType
e.location = MarkerLocation().also { l ->
@@ -391,9 +385,11 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
}
}
} else if (msg.what == MSG_WHAT_DRAW_PEOPLE_CROSS) {
Logger.i(TAG, "people cross -- 1 --")
val data = msg.obj as? MessagePad.Event ?: return@Callback true
AiRoadMarker.aiMakers.getOrPut(data.eventId) {
val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
Logger.i(TAG, "people cross -- 2 --")
val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
val carLocation = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
val distance = CoordinateUtils.calculateLineDistance(carLocation.longitude, carLocation.latitude, data.longitude, data.latitude)
if (distance > 150) {
@@ -401,6 +397,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
V2XBizTrace.onAck(TAG, mapOf("people cross" to "distance > 150"), true)
return@Callback true
}
Logger.i(TAG, "people cross -- 3 --")
val cameraIp = if(TextUtils.isEmpty(data.exts)) ""
else (GsonUtils.fromJson(data.exts, Map::class.java)["cameraIp"])?:""
// 弹事件框
@@ -415,6 +412,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
data.latitude)
AiRoadMarker()
}.also {
Logger.i(TAG, "people cross -- 4 --")
it.marker(Marker(data.eventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType, data.longitude, data.latitude, 0.0), drawMarker = true, false, isHighFrequency = true)
}.receive()
}
@@ -487,7 +485,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
}
}
private fun computeCrossCountBetween(start: kotlin.Triple<Double, Double, Double>, end: kotlin.Pair<Double, Double>): Int {
private fun computeCrossCountBetween(start: Triple<Double, Double, Double>, end: kotlin.Pair<Double, Double>): Int {
val points = V2NUtils.generateIntermediatePoints(kotlin.Pair(start.first, start.second), end, 50.0 * 1e-7)
V2XBizTrace.onAck(points, "computeCrossCountBetween", true)
var crossId = MapDataWrapper.getCrossRoad(start.first, start.second, start.third)?.cross_id_end
@@ -607,7 +605,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
private fun drawPeopleCross(event: MessagePad.Event) {
Log.d("V2NIdentifyDrawer", "---drawPeopleCross---: $event, [${FunctionBuildConfig.v2nMainSwitch}, ${FunctionBuildConfig.isNewV2NData}]")
if (V2NCarTypeCheck.verifyCarType() && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
handler.removeMessages(MSG_WHAT_DRAW_PEOPLE_CROSS)
handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_PEOPLE_CROSS, event))
}
}

5
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
View File

@@ -13,6 +13,7 @@ import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerRoadV2NEventWindowListenerManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.util.CoordinateUtils
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
import com.mogo.eagle.function.biz.v2x.V2XBizTrace
@@ -100,6 +101,7 @@ class AiRoadMarker {
fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false, isHighFrequency:Boolean = false) {
val markerId = marker.id
if (isHighFrequency && drawMarker) {
Logger.d(TAG, "marker --->poiType: $marker, ${EventTypeEnumNew.getMarker3DRes(marker.poiType)}")
val builder = getOrPutPointOptionBuilder(markerId, V2XConst.V2X_MARKER_OWNER, MAP_MARKER)
builder
.set3DMode(true)
@@ -117,6 +119,7 @@ class AiRoadMarker {
}
val wrapper = MarkerWrapper(markerId, marker.poi_lon, marker.poi_lat, 1, elapsedDistance = distance)
wrapper.onRemoved = {
Logger.d(TAG, "222 -> marker --->poiType: $marker, ${EventTypeEnumNew.getMarker3DRes(marker.poiType)}")
CallerRoadV2NEventWindowListenerManager.dismiss(markerId)
builders.remove(markerId)
markerIds.remove(p.id)
@@ -365,8 +368,8 @@ class AiRoadMarker {
data class Marker(
val id: String,
val poiType: String,
val poi_lat: Double,
val poi_lon: Double,
val poi_lat: Double,
val poi_angle: Double,
val polygon: List<Pair<Double, Double>>? = null,
var farthestPoint: Pair<Double, Double>? = null,

6
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -142,11 +142,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
if (gnssInfo != null) {
if (1 == FunctionBuildConfig.gpsProvider) {
// 同步更新经纬度和系统时间至 AutoPilotStatusListener
CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(
gnssInfo.satelliteTime,
gnssInfo.longitude,
gnssInfo.latitude
)
CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(gnssInfo.satelliteTime, gnssInfo.longitude, gnssInfo.latitude, gnssInfo.heading)
}
}
}

6
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
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@@ -287,11 +287,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
// 同步给MAP地图
CallerObuLocationWGS84ListenerManager.invokeObuLocationWGS84(gnssInfo)
// 同步更新经纬度和系统时间至 AutoPilotStatusListener
CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(
System.currentTimeMillis() / 1000.0,
gnssInfo.longitude,
gnssInfo.latitude
)
CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(System.currentTimeMillis() / 1000.0, gnssInfo.longitude, gnssInfo.latitude, gnssInfo.heading)
}
}
}

3
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
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@@ -46,6 +46,9 @@ open class AutopilotStatusInfo : Serializable, Cloneable {
@Volatile
var locationLon = 0.0
@Volatile
var locationHeading = 0.0
@Volatile
var satelliteTime = 0.0

3
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
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@@ -133,9 +133,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
/**
* 通过Gnss定位更新来同步更新自动驾驶状态
*/
fun updateAutoPilotLocAndTime(satelliteTime: Double, lon: Double, lat: Double) {
fun updateAutoPilotLocAndTime(satelliteTime: Double, lon: Double, lat: Double, heading: Double) {
mAutopilotStatusInfo.locationLat = lat
mAutopilotStatusInfo.locationLon = lon
mAutopilotStatusInfo.locationHeading = heading
mAutopilotStatusInfo.satelliteTime = satelliteTime
mAutopilotStatusInfo.locationStatus = true
invokeAutoPilotStatus()