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室内模拟导航路线,工控机返回数据验证,数据不精确待联调,数据反馈上线时间7月份

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liujing
2022-06-29 18:45:59 +08:00
parent 8a34380297
commit a04300a62d
3 changed files with 25 additions and 68 deletions
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50
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
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@@ -133,16 +133,6 @@ public class AMapCustomView
// mWayPointList.add(new NaviLatLng(40.035897, 116.329582));
// mWayPointList.add(new NaviLatLng(40.036396, 116.322166));
Log.d(TAG, "initView:" + mWayPointList.toString());
// mWayPointList.add(new NaviLatLng(39.968847, 116.406952));
// mWayPointList.add(new NaviLatLng(39.969058, 116.407346));
// mWayPointList.add(new NaviLatLng(39.968955, 116.401767));
// mWayPointList.add(new NaviLatLng(39.968626, 116.394938));
// mWayPointList.add(new NaviLatLng(39.968433, 116.388725));
// mWayPointList.add(new NaviLatLng(39.968542, 116.383775));
// mWayPointList.add(new NaviLatLng(40.037808, 116.342539));
// mWayPointList.add(new NaviLatLng(40.037239, 116.337172));
// mWayPointList.add(new NaviLatLng(40.035897, 116.329582));
// mWayPointList.add(new NaviLatLng(40.036396, 116.322166));
//顺义国展路线
// mWayPointList.add(new NaviLatLng(40.097621,116.526495));
@@ -290,7 +280,7 @@ public class AMapCustomView
//导航全程光柱
options.setTrafficBarEnabled(false);
//指南针
options.setCompassEnabled(false);
// options.setCompassEnabled(false);
options.setTilt((int) tilt);
//自车车标
options.setCarBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_my_location_logo));
@@ -705,42 +695,4 @@ public class AMapCustomView
}
@Override
public void onAutopilotTrajectory(@NotNull List<MessagePad.TrajectoryPoint> trajectoryInfos) {
}
/**
* 根据全路径获取起始点和经停点进行导航路线绘制
* 自动驾驶启动后获得数据,获取全路径的具体时间要进行路测
* 室内某个bag包自动驾驶启动8s后返回
*/
@Override
public void onAutopilotRotting(@org.jetbrains.annotations.Nullable MessagePad.GlobalPathResp globalPathResp) {
List list = globalPathResp.getWayPointsList();
int minCount = 2;
if (list.size() >= minCount) {
Location sLocation = (Location) list.get(0);
Location eLocation = (Location) list.get(list.size() - 1);
mStartLatlng = new NaviLatLng(sLocation.getLongitude(), sLocation.getLatitude());
mEndLatlng = new NaviLatLng(eLocation.getLongitude(), eLocation.getLatitude());
sList.add(mStartLatlng);
eList.add(mEndLatlng);
for (int i = 1; i < list.size() - minCount; i++) {
Location wayLoc = (Location) list.get(i);
NaviLatLng way = new NaviLatLng(wayLoc.getLongitude(), wayLoc.getLatitude());
mWayPointList.add(way);
}
}
int strategy = 0;
try {
//再次强调，最后一个参数为true时代表多路径，否则代表单路径
strategy = mAMapNavi.strategyConvert(true, false, false, false, false);
} catch (Exception e) {
e.printStackTrace();
}
Log.d(TAG, "calculateDriveRoute ADAS全局路径坐标:" + list.size() + "," + sList.toString() + "," + eList.toString() + "," + mWayPointList.toString());
//指定路径绘制导航路线
mAMapNavi.calculateDriveRoute(sList, eList, mWayPointList, strategy);
}
}