From 56a236a96f480dc13e1c870408cfdeefd8040dd0 Mon Sep 17 00:00:00 2001 From: liujing Date: Tue, 27 Apr 2021 15:02:47 +0800 Subject: [PATCH] =?UTF-8?q?=E8=BD=A6=E8=B7=AF=E4=BA=91-=E6=B3=A8=E6=84=8F?= =?UTF-8?q?=E5=89=8D=E6=96=B9=E8=A1=8C=E4=BA=BA=E6=A8=A1=E6=8B=9F=E6=95=B0?= =?UTF-8?q?=E6=8D=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../manager/impl/MoGoV2XCloundDataManager.java | 16 +++++++++++----- ...cenario_warning_event_data_pedestrians.json | 18 +++++++++--------- 2 files changed, 20 insertions(+), 14 deletions(-) diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java index f80e8b53a8..e9729fa606 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java @@ -70,6 +70,12 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog @Override public void analysisV2XCloundDataEvent(V2XWarningEntity cloundWarningInfo) { + //测试数据 + MogoLatLng s = new MogoLatLng(26.88394048,112.5678959); + MogoLatLng t = new MogoLatLng(26.88393912,112.5678793); + Double b = Trigonometric.getAngle(s.lon,s.lat,t.lon,t.lat); + + if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) { mCloundWarningInfo = cloundWarningInfo; showTime = mCloundWarningInfo.getShowTime(); @@ -100,7 +106,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog //添加停止线marker handleStopLine(); //自车画线 - drawSlefCarLine(carLocation.lon, carLocation.lat, bearing); + drawSelfCarLine(carLocation.lon, carLocation.lat, bearing); }, 500); UiThreadHandler.postDelayed(() -> { @@ -119,7 +125,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo); //车辆静止的时候 - drawSlefCarLine(carLocation.lon, carLocation.lat, bearing); + drawSelfCarLine(carLocation.lon, carLocation.lat, bearing); }, 500); @@ -266,7 +272,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog if (mCloundWarningInfo != null) { mCloundWarningInfo.setCarLocation(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude())); } - drawSlefCarLine(latLng.getLongitude(), latLng.getLatitude(), latLng.getBearing()); + drawSelfCarLine(latLng.getLongitude(), latLng.getLatitude(), latLng.getBearing()); } carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()); } @@ -278,7 +284,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog /** * 自车为起点绘制(根据设计,前方行人/弱势交通参与者预警 getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP自车与停止线之间为蓝色预警;其他侧方预警自车与预碰撞点之间显示红色预警) */ - private void drawSlefCarLine(double lon, double lat, float bearing) { + private void drawSelfCarLine(double lon, double lat, float bearing) { if (!isSelfLineClear) { IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline(); if (mCloundWarningInfo != null) { @@ -291,9 +297,9 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog isFirstLocation = true; } - //自车位置 endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon()); + //自车位置 startLatlng = new MogoLatLng(lat, lon); float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat); addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat)); diff --git a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json index a591cb18ce..b085bcef25 100644 --- a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json +++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json @@ -1,22 +1,22 @@ { "type": 0, - "lat": 26.88008312, - "lon": 112.57147295, + "lat": 26.880223, + "lon": 112.571949, "distance": 2, - "collisionLat": 26.88008312, - "collisionLon": 112.57147295, + "collisionLat": 26.880238, + "collisionLon": 112.571949, "stopLines": [ { - "lat": 26.88008312, - "lon": 112.57147295 + "lat": 26.880223, + "lon": 112.571949 }, { - "lat": 26.88008302, - "lon": 112.57147295 + "lat": 26.880200, + "lon": 112.571949 } ], "from": 1, - "angle": 0, + "angle": 264, "direction": 10013, "speed": 11.108121, "targetColor": "#FF4040",