[6.5.0][道路事件] 经纬度弄反了，导致绘制不可见

app/src/androidTest/java/com/mogo/functions/test/V2NTest.kt

@@ -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))
+    }
 }

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

@@ -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))
         }
     }

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

@@ -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,

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

@@ -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(
+                CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(gnssInfo.satelliteTime, gnssInfo.longitude, gnssInfo.latitude, gnssInfo.heading)
-                    gnssInfo.satelliteTime,
-                    gnssInfo.longitude,
-                    gnssInfo.latitude
-                )
             }
         }
     }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt

@@ -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(
+                    CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(System.currentTimeMillis() / 1000.0, gnssInfo.longitude, gnssInfo.latitude, gnssInfo.heading)
-                        System.currentTimeMillis() / 1000.0,
-                        gnssInfo.longitude,
-                        gnssInfo.latitude
-                    )
                 }
             }
         }

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt

@@ -46,6 +46,9 @@ open class AutopilotStatusInfo : Serializable, Cloneable {
     @Volatile
     var locationLon = 0.0
 
+    @Volatile
+    var locationHeading = 0.0
+
     @Volatile
     var satelliteTime = 0.0
 

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt

@@ -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()