[6.5.0][道路事件] 修复qa发现的问题
This commit is contained in:
renwj
@@ -8,11 +8,14 @@ import androidx.test.filters.LargeTest
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import androidx.test.platform.app.InstrumentationRegistry
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import com.google.protobuf.ByteString
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import com.mogo.eagle.core.data.config.FunctionBuildConfig
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import com.mogo.eagle.core.data.multidisplay.TelematicConstant
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
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import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
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import com.mogo.eagle.core.function.main.MainLauncherActivity
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import com.mogo.eagle.core.utilcode.util.CoordinateUtils
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import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
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import com.mogo.eagle.core.utilcode.util.GsonUtils
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import com.mogo.map.MapDataWrapper
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import kotlinx.coroutines.delay
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import kotlinx.coroutines.runBlocking
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@@ -21,6 +24,7 @@ import mogo.telematics.pad.MessagePad.V2nCrossSpeed
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import org.junit.Before
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import org.junit.Test
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import org.junit.runner.RunWith
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import java.util.HashMap
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import java.util.concurrent.TimeUnit
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@@ -47,34 +51,47 @@ class V2NTest {
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if (millis > 0) {
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delay(millis)
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}
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var location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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val distance = arguments.getString("distance", "0").toDouble()
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var newPoint = DrivingDirectionUtils.calculateNewPoint(location.longitude, location.latitude, location.heading, distance)
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var crossInfo = MapDataWrapper.getCrossRoad(newPoint.first, newPoint.second, location.heading)
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while (crossInfo == null || TextUtils.isEmpty(crossInfo.cross_id) || TextUtils.isEmpty(crossInfo.cross_id_end)) {
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Log.d(TAG, "获取到的路口数据无效, 5秒后重试")
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delay(TimeUnit.SECONDS.toMillis(5))
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Log.d(TAG, "5秒时间到，开始计算新的路口数据")
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location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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newPoint = DrivingDirectionUtils.calculateNewPoint(location.longitude, location.latitude, location.heading, distance)
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crossInfo = MapDataWrapper.getCrossRoad(newPoint.first, newPoint.second, location.heading)
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val targetX = arguments.getString("lon", "0").toDouble()
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val targetY = arguments.getString("lat", "0").toDouble()
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val targetDistance = arguments.getString("distance", "0").toDouble()
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var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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while (distance > targetDistance) {
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delay(2000)
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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}
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Log.d(TAG, "获取到路口数据...")
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Log.d(TAG, "开始获取路口数据...")
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var crossInfo = MapDataWrapper.getCrossRoad(car.longitude, car.latitude, car.heading)
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while (crossInfo == null || TextUtils.isEmpty(crossInfo.cross_id) || TextUtils.isEmpty(crossInfo.cross_id_end)) {
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Log.d(TAG, "获取到的路口数据无效, 1秒后重试")
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delay(TimeUnit.SECONDS.toMillis(1))
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Log.d(TAG, "1秒时间到，开始计算新的路口数据")
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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crossInfo = MapDataWrapper.getCrossRoad(car.longitude, car.latitude, car.heading)
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}
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val newPoint = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , 200.0)
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Log.d(TAG, "获取到路口数据..., 自车:[${car.longitude}, ${car.latitude}]前方200米外的点: [${newPoint.first}, ${newPoint.second}]")
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FunctionBuildConfig.isNewV2NData = true
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FunctionBuildConfig.v2nMainSwitch = true
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CallerV2nNioEventListenerManager.invokeV2nNioGreenWavePassageEvent(
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V2nCrossSpeed.getDefaultInstance().toBuilder()
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.setSpeedLeftMin(0)
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.setSpeedLeftMax(0)
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.setSpeedRightMin(0)
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.setSpeedRightMax(0)
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.setSpeedStraightMin(30)
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.setSpeedStraightMax(54)
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.setMaxSpeed(0)
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.setMaxStatus(0)
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.setLng(newPoint.first)
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.setLat(newPoint.second)
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.build())
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runCatching {
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val map = HashMap<String, Boolean>().also {
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it["f1"] = FunctionBuildConfig.v2nMainSwitch
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it["f2"] = FunctionBuildConfig.isNewV2NData
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}
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
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}
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delay(2000)
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val data = 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()
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CallerV2nNioEventListenerManager.invokeV2nNioGreenWavePassageEvent(data)
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while (!CallerTelematicManager.getServerStarted()) {
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Log.d(TAG , "乘客屏未连接, 2秒后重试...")
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delay(2000)
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}
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Log.d(TAG, "乘客屏已连接, 将数据发送给乘客屏...")
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_GREEN_WAVE, data.toByteArray())
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delay(TimeUnit.MINUTES.toMillis(10))
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}
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@@ -103,21 +120,67 @@ class V2NTest {
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Log.d(TAG, "location:[x:${targetX}, y:${targetY}, new_location:[x:${newPoint.first}, y:${newPoint.second}]")
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FunctionBuildConfig.isNewV2NData = true
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FunctionBuildConfig.v2nMainSwitch = true
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runCatching {
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val map = HashMap<String, Boolean>().also {
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it["f1"] = FunctionBuildConfig.v2nMainSwitch
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it["f2"] = FunctionBuildConfig.isNewV2NData
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}
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
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}
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delay(2000)
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val eventId = "xxxxxxxxxxxxx"
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for (i in 0 until 500) {
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CallerV2nNioEventListenerManager.invokeV2nNioCrossoverEvent(
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MessagePad.Event.getDefaultInstance().toBuilder()
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.setLongitude(newPoint.first)
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.setLatitude(newPoint.second)
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.setEventId(eventId)
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.setTimestamp(System.currentTimeMillis())
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.addAllTargetIds(emptyList())
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.addTargetIdsBytes(ByteString.EMPTY)
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.addTargetIds("0")
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.setExts("{ \"cameraIp\": \"172.18.7.40\" }")
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.build())
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val data = 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\",\"eventExtUnits\":[{\"heading\":266.5414733886719,\"uuid\":\"e440951e-5eb6-4091-8560-72a5d8aaf229\"}] }").build()
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_PEOPLE_CROSS, data.toByteArray())
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CallerV2nNioEventListenerManager.invokeV2nNioCrossoverEvent(data)
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delay(50)
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newPoint = DrivingDirectionUtils.calculateNewPoint(targetX, targetY, targetHeading, 0.5)
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newPoint = DrivingDirectionUtils.calculateNewPoint(targetX, targetY, targetHeading, 1.0)
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}
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delay(TimeUnit.MINUTES.toMillis(10))
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}
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@Test
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fun testOtherRetrogradeVehicle(): Unit = runBlocking {
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val arguments = InstrumentationRegistry.getArguments()
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val millis = arguments.getString("delay", "0").toLong()
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if (millis > 0) {
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delay(millis)
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}
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val targetX = arguments.getString("lon", "0").toDouble()
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val targetY = arguments.getString("lat", "0").toDouble()
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val targetHeading = arguments.getString("angle", "0").toDouble()
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val targetDistance = arguments.getString("distance", "0").toDouble()
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var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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while (distance > targetDistance) {
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delay(2000)
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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}
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Log.d(TAG, "2 -- > target_distance: $targetDistance, current distance: $distance")
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var newPoint = DrivingDirectionUtils.calculateNewPoint(targetX, targetY, targetHeading, targetDistance)
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Log.d(TAG, "location:[x:${targetX}, y:${targetY}, new_location:[x:${newPoint.first}, y:${newPoint.second}]")
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FunctionBuildConfig.isNewV2NData = true
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FunctionBuildConfig.v2nMainSwitch = true
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FunctionBuildConfig.isNewV2NData = true
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FunctionBuildConfig.v2nMainSwitch = true
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runCatching {
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val map = HashMap<String, Boolean>().also {
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it["f1"] = FunctionBuildConfig.v2nMainSwitch
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it["f2"] = FunctionBuildConfig.isNewV2NData
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}
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
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}
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delay(2000)
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val eventId = "xxxxxxxxxxxxx"
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for (i in 0 until 500) {
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val data = 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\",\"eventExtUnits\":[{\"heading\":266.5414733886719,\"uuid\":\"e440951e-5eb6-4091-8560-72a5d8aaf229\"}] }").build()
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_OTHER_RETROGRADE_VEHICLE, data.toByteArray())
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CallerV2nNioEventListenerManager.invokeV2nNioOtherRetrogradeEvent(data)
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delay(50)
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newPoint = DrivingDirectionUtils.calculateNewPoint(targetX, targetY, targetHeading, 1.0)
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}
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delay(TimeUnit.MINUTES.toMillis(10))
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}
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