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修复PAD与工控机断开没有重连的bug
修复引导线车辆尾拖现象

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-02-25 16:42:37 +08:00
parent 60622ef131
commit 618a8762ca
3 changed files with 29 additions and 9 deletions
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13
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
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@@ -83,11 +83,14 @@ public class MogoRouteOverlayManager implements
// Log.d(TAG, "trajectoryInfos:" + adasTrajectoryInfo.getLat()+":"+adasTrajectoryInfo.getLon());
// Log.d(TAG, "temp:"+temp+" location:" + lat+":"+lon);
List<MogoLatLng> mogoLatLngs = new ArrayList<>();
for (ADASTrajectoryInfo a : trajectoryInfos) {
// Log.d(TAG, "temp:"+temp+" trajectoryInfos:" + a.getLat()+":"+a.getLon());
builder.append(a.getLon()).append(",");
builder.append(a.getLat()).append(",");
mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon()));
for (int i = 0; i < trajectoryInfos.size(); i++) {
// 临时解决车尾拖线问题，丢弃距离车最近的几个经纬度，原因是惯性导航的中心靠近车尾，会导致经纬度靠近尾部，且两个数据不同频
if (i > 5) {
ADASTrajectoryInfo a = trajectoryInfos.get(i);
builder.append(a.getLon()).append(",");
builder.append(a.getLat()).append(",");
mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon()));
}
}
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1){
RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(mogoLatLngs);