[6.5.0][道路事件] 经纬度弄反了，导致绘制不可见

2024-07-08 20:47:16 +08:00
parent e0aa56d32c
commit 5bfb239e6e
7 changed files with 68 additions and 25 deletions
--- a/app/src/androidTest/java/com/mogo/functions/test/V2NTest.kt
+++ b/app/src/androidTest/java/com/mogo/functions/test/V2NTest.kt
@@ -0,0 +1,124 @@
+package com.mogo.functions.test
+
+import android.text.TextUtils
+import android.util.Log
+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
+import org.junit.runner.RunWith
+import java.util.concurrent.TimeUnit
+
+
+@RunWith(AndroidJUnit4::class)
+@LargeTest
+class V2NTest {
+
+    companion object {
+        private const val TAG = "GreenWaveTest"
+    }
+
+    lateinit var launch: ActivityScenario<MainLauncherActivity>
+
+    @Before
+    fun before() {
+        launch = ActivityScenario.launch(MainLauncherActivity::class.java)
+    }
+
+
+    @Test
+    fun testGreenWave(): Unit = runBlocking {
+        val arguments = InstrumentationRegistry.getArguments()
+        val millis = arguments.getString("delay", "0").toLong()
+        if (millis > 0) {
+            delay(millis)
+        }
+        var location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+        val distance = arguments.getString("distance", "0").toDouble()
+        var newPoint = DrivingDirectionUtils.calculateNewPoint(location.longitude, location.latitude, location.heading, distance)
+        var crossInfo = MapDataWrapper.getCrossRoad(newPoint.first, newPoint.second, location.heading)
+        while (crossInfo == null || TextUtils.isEmpty(crossInfo.cross_id) || TextUtils.isEmpty(crossInfo.cross_id_end)) {
+            Log.d(TAG, "获取到的路口数据无效, 5秒后重试")
+            delay(TimeUnit.SECONDS.toMillis(5))
+            Log.d(TAG, "5秒时间到，开始计算新的路口数据")
+            location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+            newPoint = DrivingDirectionUtils.calculateNewPoint(location.longitude, location.latitude, location.heading, distance)
+            crossInfo = MapDataWrapper.getCrossRoad(newPoint.first, newPoint.second, location.heading)
+        }
+        Log.d(TAG, "获取到路口数据...")
+        FunctionBuildConfig.isNewV2NData = true
+        FunctionBuildConfig.v2nMainSwitch = true
+        CallerV2nNioEventListenerManager.invokeV2nNioGreenWavePassageEvent(
+            V2nCrossSpeed.getDefaultInstance().toBuilder()
+                .setSpeedLeftMin(0)
+                .setSpeedLeftMax(0)
+                .setSpeedRightMin(0)
+                .setSpeedRightMax(0)
+                .setSpeedStraightMin(30)
+                .setSpeedStraightMax(54)
+                .setMaxSpeed(0)
+                .setMaxStatus(0)
+                .setLng(newPoint.first)
+                .setLat(newPoint.second)
+                .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))
+    }
+}