From 94de2bf3222c627008277f40e93d51543e8a9eff Mon Sep 17 00:00:00 2001
From: renwj <renwenjie@zhidaoauto.com>
Date: Mon, 15 Jul 2024 19:41:04 +0800
Subject: [PATCH] =?UTF-8?q?[6.5.0][=E9=81=93=E8=B7=AF=E4=BA=8B=E4=BB=B6]?=
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---
 .../angle/MoGoVisualAngleChangeProvider.kt    | 56 +++++++++++++------
 1 file changed, 39 insertions(+), 17 deletions(-)

diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt
index a7734a2868..d947b3ea98 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt
@@ -17,6 +17,7 @@ import com.mogo.eagle.core.function.api.map.road.IMoGoMapRoadListener
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.utilcode.kotlin.*
+import com.mogo.map.MapDataWrapper
 import com.zhidaoauto.map.data.road.StopLine
 import com.zhidaoauto.map.sdk.open.common.tools.MapTools
 import kotlinx.coroutines.*
@@ -45,14 +46,15 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
     private val listener = object : IMoGoMapRoadListener {
         private val roadId = AtomicReference<String>()
         private val triggerRoadId = AtomicReference<String>()
-
+        private var inCrossRoad = false
         override fun onRoadIdInfo(roadId: String) {
             this.roadId.set(roadId)
             Log.d(TAG, "-- onRoadIdInfo --: prev: ${this.triggerRoadId.get()} -> curr: $roadId")
-            val loc = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
+            val loc = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
             var triggerClose = false
-            val distance = distanceOfCarToStopLine.get() +  5
+            var distance = distanceOfCarToStopLine.get()
             if (hasCrossRoad && distance > 0) {
+                distance += 3.0
                 val prev = triggerLocation.get()
                 if (prev != null) {
                     travelled.set(MapTools.distance(loc.longitude, loc.latitude, prev.longitude, prev.latitude) + travelled.get())
@@ -60,19 +62,34 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
                 }
                 val oldRoadId = triggerRoadId.get()
                 Log.d(TAG, "-- onRoadIdInfo --: travelled --: ${travelled.get()}")
-                if ((travelled.get() > distance) && oldRoadId != roadId) {
-                    distanceOfCarToStopLine.set(0.0)
-                    hasCrossRoad = false
-                    triggerRoadId.set(null)
-                    travelled.set(0.0)
-                    triggerLocation.set(null)
-                    Log.d(TAG, "-- onRoadIdInfo --: trigger close --")
-                    triggerClose = true
+                if ((travelled.get() > distance)) {
+                    val cross = MapDataWrapper.getCrossRoad(loc.longitude, loc.latitude, loc.heading)
+                    Log.d(TAG, "-- onRoadIdInfo --: cross --: ${cross?.status}")
+                    if (cross?.status == 1) {
+                        if (!inCrossRoad) {
+                            inCrossRoad = true
+                        }
+                    } else {
+                        if (inCrossRoad) {
+                            triggerClose = true
+                        }
+                        if (!triggerClose && roadId != "0" && oldRoadId != null && oldRoadId != roadId) {
+                            triggerClose = true
+                        }
+                    }
+
+                    if (triggerClose) {
+                        Log.d(TAG, "-- onRoadIdInfo --: trigger close --")
+                        distanceOfCarToStopLine.set(0.0)
+                        hasCrossRoad = false
+                        triggerRoadId.set(null)
+                        travelled.set(0.0)
+                        triggerLocation.set(null)
+                        inCrossRoad = false
+                        changeScene(Default())
+                    }
                 }
             }
-            if (triggerClose) {
-                changeScene(Default())
-            }
         }
 
 
@@ -80,11 +97,16 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
             Log.d(TAG, "-- onStopLineInfo --: ${info.distance}")
             if (!hasCrossRoad && info.distance <= 80.0) {
                 hasCrossRoad = true
-                triggerRoadId.set(this.roadId.get())
-                distanceOfCarToStopLine.set(info.distance)
-                triggerLocation.set(CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02())
                 changeScene(CrossRoad(2))
             }
+            if (hasCrossRoad && triggerRoadId.get() == null &&  info.distance <= 20) {
+                val roadId = this.roadId.get()
+                if (roadId != null && roadId != "0") {
+                    triggerRoadId.set(this.roadId.get())
+                    distanceOfCarToStopLine.set(info.distance)
+                    triggerLocation.set(CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84())
+                }
+            }
         }
     }