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[VisualAngle]优化自车到终止线距离算法；道路事件场景切换逻辑

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This commit is contained in:
renwj
2022-03-22 10:45:05 +08:00
parent f2307e6683
commit 8822d0865c
4 changed files with 45 additions and 35 deletions
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4
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/impl/V2XScenarioManager.java
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@@ -58,7 +58,6 @@ public class V2XScenarioManager implements IV2XScenarioManager {
ThreadUtils.runOnUiThread(() -> {
// 提取之前存储的场景
if (v2XMessageEntity != null) {
sceneChange();
// 广播给应用内部其它模块
Intent intent = new Intent(V2XConst.BROADCAST_SCENE_ACTION);
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
@@ -69,9 +68,11 @@ public class V2XScenarioManager implements IV2XScenarioManager {
mV2XScenario = new V2XRoadEventScenario();
break;
case V2XMessageEntity.V2XTypeEnum.ALERT_PUSH_VR_SHOW:
sceneChange();
mV2XScenario = new V2XOptimalRouteVREventScenario();
break;
case V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_WEAKNESS:
sceneChange();
boolean isVrMode1 = false;
IMogoStatusManager statusManager1 = BridgeApi.INSTANCE.statusManager();
if (statusManager1 != null) {
@@ -101,6 +102,7 @@ public class V2XScenarioManager implements IV2XScenarioManager {
}
}
/**
* http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=52833468
* 道路事件触发后,切换到中景

47
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
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@@ -59,13 +59,7 @@ object CallerVisualAngleManager {
private var roadId = ""
override fun onRoadIdInfo(roadId: String) {}
override fun onStopLineInfo(info: StopLine) {
if (!hasCrossRoad && info.distanceOfCarToStopLine <= 30.0) {
hasCrossRoad = true
changeVisualAngle(CrossRoad)
}
override fun onRoadIdInfo(roadId: String) {
val oldRoadId = this.roadId
if (oldRoadId != roadId) {
if (hasCrossRoad) {
@@ -73,7 +67,14 @@ object CallerVisualAngleManager {
changeVisualAngle(Default())
}
}
this.roadId = info.roadId
this.roadId = roadId
}
override fun onStopLineInfo(info: StopLine) {
if (!hasCrossRoad && info.distanceOfCarToStopLine <= 30.0) {
hasCrossRoad = true
changeVisualAngle(CrossRoad)
}
}
})
}
@@ -177,10 +178,12 @@ object CallerVisualAngleManager {
@OptIn(InternalCoroutinesApi::class)
fun changeVisualAngle(scene: Scene) {
val triggerTime = TimeUnit.MILLISECONDS.toSeconds(SystemClock.elapsedRealtime())
val triggerTime = SystemClock.elapsedRealtime()
scope.launch {
Log.d("XXX", "--- 1 -----")
val displayed = getDisplayed()
if (displayed == null) {
Log.d("XXX", "--- 2 -----")
val top = getTop() //堆顶
if (top != null && top.target.priority > scene.priority) {
doChangeAngle(top)
@@ -190,27 +193,36 @@ object CallerVisualAngleManager {
}
Log.d(TAG, "没有正在展示的视角，当前要展示的视角: $scene")
} else {
if (scene.javaClass == displayed.javaClass) {
Log.d("XXX", "--- 3 -----")
if (scene.javaClass == displayed.target.javaClass) {
Log.d("XXX", "--- 4 -----")
Log.d(TAG, "同一种场景不需要重复展示")
defaultDelayJob?.safeCancel()
return@launch
}
if (scene is Default) {
Log.d("XXX", "--- 5 -----")
Log.d(TAG, "恢复到默认视图，之前展示的视图：$displayed")
heap -= displayed
defaultDelayJob?.safeCancel()
launch {
val delay = scene.unit.toMillis(scene.delay)
Log.d(TAG, "默认视图开启延时倒计时, 倒计时时间：${delay} ms.")
delay(delay)
Log.d(TAG, "默认视图结束倒计时，开始展示...")
doChangeAngle(Record(scene, triggerTime = triggerTime))
heap -= displayed
}.also { defaultDelayJob = it }
} else {
Log.d("XXX", "--- 6 -----")
defaultDelayJob?.safeCancel()
val delta = triggerTime - displayed.triggerTime
if (delta >= MaxDisplayThreshold) {
Log.d("XXX", "--- 6-1 -----")
Log.d(TAG, "场景: $scene 触发展示，满足条件开始展示...")
doChangeAngle(Record(scene, triggerTime = triggerTime))
} else {
Log.d(TAG, "场景: $scene 触发展示，但是在20s内，丢弃...")
Log.d("XXX", "--- 6-2 -----")
Log.d(TAG, "场景: $scene 触发展示，但是在30s内，丢弃...")
}
}
}
@@ -220,14 +232,13 @@ object CallerVisualAngleManager {
@OptIn(InternalCoroutinesApi::class)
private fun doChangeAngle(record: Record) {
CallerMapUIServiceManager.getMapUIController()?.also {
record.isDisplay = true
synchronized(heap) {
heap += record
if (record.target !is Default) {
record.isDisplay = true
synchronized(heap) {
heap += record
}
}
val target = record.target
if (target !is Default) {
defaultDelayJob?.safeCancel()
}
if (target is LowSpeed) {
it.changeMapVisualAngle(record.target.angle, MogoLatLng(target.lat, target.lon))
} else {

2
gradle.properties
View File

@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.3.32
MOGO_TELEMATIC_VERSION=1.3.32
######## MogoAiCloudSDK Version ########
# 自研地图
MAP_SDK_VERSION=2.0.9.1
MAP_SDK_VERSION=2.0.9.2
MAP_SDK_OPERATION_VERSION=1.0.12
# websocket
WEBSOCKET_VERSION=1.1.7

27
libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
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@@ -174,10 +174,10 @@ public class AMapViewWrapper implements IMogoMapView,
}
@Override
public void onRoadIdInfo(@androidx.annotation.Nullable String s) {
Log.d(TAG, "-- onRoadIdInfo --RoadId:" + s);
if (s != null) {
CallerMapRoadListenerManager.INSTANCE.invokeListenersOnRoadIdGet(s);
public void onRoadIdInfo(@androidx.annotation.Nullable String roadId) {
if (!TextUtils.isEmpty(roadId)) {
Log.d(TAG, "-- onRoadIdInfo --RoadId:" + roadId);
CallerMapRoadListenerManager.INSTANCE.invokeListenersOnRoadIdGet(roadId);
}
}
@@ -185,27 +185,24 @@ public class AMapViewWrapper implements IMogoMapView,
public void onStopLineInfo(@androidx.annotation.Nullable StopLine stopLine) {
Log.d(TAG, "-- onStopLineInfo -- 1 --:" + (stopLine != null ? stopLine.toString() : null) + "-> road_id:" + mRoadId);
MogoLocation carLoc = CallerMapLocationListenerManager.INSTANCE.getCurrentLocation();
if (stopLine != null) {
if (stopLine != null && !TextUtils.isEmpty(stopLine.road_id) && stopLine.points != null && stopLine.points.size() > 0) {
ArrayList<LonLatPoint> points = stopLine.points;
if (points != null && carLoc != null) {
if (carLoc != null) {
MapRoadInfo.StopLine stopInfo = convert(stopLine);
LonLatPoint match = new LonLatPoint();
double ret = MapDataApi.INSTANCE.GetDisFromPointToLine(convert(carLoc), points, match, 1);
Log.d(TAG, "-- onStopLineInfo --- ret: "+ ret);
double distanceOfCarToStopLine = 0.0;
double distanceOfCarToStopLine = -1.0;
if (Double.compare(ret, -1.0) != 0) {
distanceOfCarToStopLine = MapTools.INSTANCE.distance(carLoc.getLatitude(), carLoc.getLongitude(), match.getLatitude(), match.getLongitude());
stopInfo.setDistanceOfCarToStopLine(distanceOfCarToStopLine);
} else {
LonLatPoint p1 = points.isEmpty() ? null : points.get(0);
LonLatPoint p2 = points.isEmpty() ? null : points.get(points.size() - 1);
LonLatPoint aim = p1 != null && p2 != null ? new LonLatPoint((p1.longitude + p2.longitude) / 2, (p1.altitude + p2.altitude) / 2, (p1.angle + p2.angle) / 2) : (p1 != null ? p1 : p2);
if (aim != null) {
distanceOfCarToStopLine = MapTools.INSTANCE.distance(carLoc.getAltitude(), carLoc.getLongitude(), aim.getLatitude(), aim.getLongitude());
}
LonLatPoint p1 = points.get(0);
LonLatPoint p2 = points.get(points.size() - 1);
distanceOfCarToStopLine = MapDataApi.INSTANCE.getNearstFromPointToSegment(carLoc.getLongitude(), carLoc.getLatitude(), p1.longitude, p1.latitude, p2.longitude, p2.latitude);
stopInfo.setDistanceOfCarToStopLine(distanceOfCarToStopLine);
}
Log.d(TAG, "-- onStopLineInfo --- distance: "+ distanceOfCarToStopLine);
stopInfo.setDistanceOfCarToStopLine(distanceOfCarToStopLine);
Log.d(TAG, "-- :");
CallerMapRoadListenerManager.INSTANCE.invokeListenersOnStopLineGet(stopInfo);
}
}