From bde82664f48c4161598fb509664a298f96a65368 Mon Sep 17 00:00:00 2001 From: renwj Date: Wed, 19 Apr 2023 15:50:59 +0800 Subject: [PATCH] =?UTF-8?q?[2.15.0][V2N]=20=E6=B7=BB=E5=8A=A0=E6=9C=AC?= =?UTF-8?q?=E5=9C=B0=E6=97=A5=E5=BF=97;=20=E6=94=BE=E5=AE=BDv2n=E4=BA=8B?= =?UTF-8?q?=E4=BB=B6=E8=A7=A6=E5=8F=91=E6=9D=A1=E4=BB=B6[diffAngle:20->30,?= =?UTF-8?q?=20eventAngle:=2020=20->=2025]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../biz/v2x/v2n/alarm/V2XAlarmServer.java | 16 ++++++++-------- .../biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt | 5 ++--- .../v2n/scenario/scene/airoad/AiRoadMarker.kt | 12 ++++++++++++ 3 files changed, 22 insertions(+), 11 deletions(-) diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/alarm/V2XAlarmServer.java b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/alarm/V2XAlarmServer.java index 8c3b605103..529f838883 100644 --- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/alarm/V2XAlarmServer.java +++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/alarm/V2XAlarmServer.java @@ -37,7 +37,7 @@ public class V2XAlarmServer { CopyOnWriteArrayList v2XRoadEventEntityList, MogoLocation currentLocation) { try { - //Logger.d(TAG, "getDriveFrontAlarmEvent --- 1 ---" + currentLocation ); + Logger.d(TAG, "getDriveFrontAlarmEvent --- 1 ---" + currentLocation ); if (!showedEvents.isEmpty()) { Iterator iterator = showedEvents.iterator(); while (iterator.hasNext()) { @@ -54,7 +54,7 @@ public class V2XAlarmServer { } } } - //Logger.d(TAG, "getDriveFrontAlarmEvent --- 2 ---" + currentLocation); + Logger.d(TAG, "getDriveFrontAlarmEvent --- 2 ---" + currentLocation); if (currentLocation != null && v2XRoadEventEntityList != null) { // 因为集合是按照距离排序后的所以这里检索出来第一个就发出警告 for (V2XRoadEventEntity v2XRoadEventEntity : v2XRoadEventEntityList) { @@ -65,7 +65,7 @@ public class V2XAlarmServer { MarkerLocation eventLocation = v2XRoadEventEntity.getLocation(); // 1、判断是否到达了触发距离,20 ~ 500, double distance = v2XRoadEventEntity.getDistance(); - //Logger.d(TAG, "distance:" + distance); + Logger.d(TAG, "distance:" + distance + ",poiType:" + v2XRoadEventEntity.getPoiType()); if (distance <= 500) { if (EventTypeEnumNew.GHOST_PROBE.getPoiType().equals(v2XRoadEventEntity.getPoiType())) { if (distance > 25) { @@ -76,8 +76,8 @@ public class V2XAlarmServer { double carBearing = currentLocation.getHeading(); double eventBearing = eventLocation.getAngle(); double diffAngle = DrivingDirectionUtils.getAngleDiff(carBearing, eventBearing); - //Logger.d(TAG, "car_bearing:" + carBearing + ",eventBearing:" + eventBearing + ",diffAngle:" + diffAngle); - if (diffAngle <= 20) { + Logger.d(TAG, "car_bearing:" + carBearing + ",eventBearing:" + eventBearing + ",diffAngle:" + diffAngle); + if (diffAngle <= 30) { // 3、计算当前车辆行驶方向与事件位置之间夹角《20度，保证道路事件在车辆前方 double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi( currentLocation.getLongitude(), @@ -87,12 +87,12 @@ public class V2XAlarmServer { (int) currentLocation.getHeading() ); - //Logger.d(TAG, "eventAngle:" + eventAngle); - if (0 <= eventAngle && eventAngle <= 20) { + Logger.d(TAG, "eventAngle:" + eventAngle); + if (0 <= eventAngle && eventAngle <= 25) { if (showedEvents.contains(v2XRoadEventEntity)) { return null; } - //Logger.d(TAG, "showed---"); + Logger.d(TAG, "showed---"); showedEvents.add(v2XRoadEventEntity); return v2XRoadEventEntity; } diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt index ac372aa987..db572abb63 100644 --- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt +++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt @@ -207,9 +207,8 @@ internal object V2NIdentifyDrawer { } catch (t: Throwable) { t.printStackTrace() } - - val shiGong = trafficData?.filter { it.type == 501 || it.type == 502 } Logger.d(TAG, "--- onAutopilotIdentifyDataUpdate -- : trafficData: ${ trafficData?.joinToString(",") }") + val shiGong = trafficData?.filter { it.type == 501 || it.type == 502 } if (shiGong != null && shiGong.isNotEmpty()) { drawShiGong(shiGong) } @@ -221,7 +220,7 @@ internal object V2NIdentifyDrawer { override fun onAutopilotV2nCongestionEvent(header: Header, rsi: RSI_PB) { super.onAutopilotV2nCongestionEvent(header, rsi) - + Logger.d(TAG, "--- onAutopilotV2nCongestionEvent -- : rsi: ${ GsonUtils.toJson(rsi) }") try { V2XBizTrace.onAck("onAutopilotV2nCongestionEvent", rsi) } catch (t: Throwable) { diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt index 8ccd111468..4404876599 100644 --- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt +++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt @@ -4,6 +4,7 @@ import android.animation.ArgbEvaluator import android.graphics.Color import android.os.Handler import android.os.Looper +import android.util.Log import android.view.animation.DecelerateInterpolator import androidx.core.util.Pair import com.mogo.eagle.core.data.map.MogoLatLng @@ -88,6 +89,7 @@ class AiRoadMarker { 300f ) //施工中心点后方的自车行驶方向上300米距离 + Log.d(TAG, "--- marker --- 3 --- l1:$l1") V2XBizTrace.onAck("$TAG --- marker --- 3 --- l1:", l1) val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo( marker.poi_lon, @@ -96,9 +98,11 @@ class AiRoadMarker { -300f ) if (l1.points.isEmpty() || l2.points.isEmpty()) { + Log.d(TAG, " --- marker --- 3 --- return ----") V2XBizTrace.onAck("$TAG --- marker --- 3 --- return ----", "") return } + Log.d(TAG, " --- marker --- 4 --- l2: $l2") V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2) val points = LinkedList() if (l2 != null && l2.points.isNotEmpty()) { @@ -108,6 +112,7 @@ class AiRoadMarker { } val centerX = marker.poi_lon val centerY = marker.poi_lat + Log.d(TAG, "--- marker --- 5 --- marker: $marker") V2XBizTrace.onAck("$TAG --- marker --- 5 --- marker:", marker) val farthestPoint = marker.polygon?.let { var find: Pair = Pair(centerX, centerY) @@ -128,6 +133,7 @@ class AiRoadMarker { MogoLatLng(find.second, find.first) } ?: MogoLatLng(centerY, centerX) marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat) + Log.d(TAG, "--- marker --- 6 --- marker:$marker") V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker) if (l1 != null && l1.points.isNotEmpty()) { for (l in l1.points) { @@ -160,6 +166,7 @@ class AiRoadMarker { var line = line.get() options.points(points) options.colorValues(colors) + Log.d(TAG, "--- marker --- 7 --- points:${points.size}") V2XBizTrace.onAck("$TAG --- marker --- 7 --- points:", "${points.size}") if (line == null || line.isDestroyed) { val l = overlayManager?.addPolyline(options) @@ -183,8 +190,10 @@ class AiRoadMarker { private fun removeLine() { val old = line.get() + Log.d(TAG, " --- removeRedLine --- 1") V2XBizTrace.onAck("$TAG --- removeRedLine --- 1", "") if (old != null) { + Log.d(TAG,"--- removeRedLine --- 2") V2XBizTrace.onAck("$TAG --- removeRedLine --- 2", "") line.set(null) old.isVisible = false @@ -193,6 +202,7 @@ class AiRoadMarker { } private fun unMarker(marker: Marker) { + Log.d(TAG,"$TAG --- unMarker ---") V2XBizTrace.onAck("$TAG --- unMarker ---", "") this.marker.set(null) removeLine() @@ -202,11 +212,13 @@ class AiRoadMarker { } fun receive() { + Log.d(TAG, " --- receive --- 1 ---") V2XBizTrace.onAck("$TAG --- receive --- 1 ---", "") val poi = this.marker.get() val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() if (poi != null) { val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat) + Log.d(TAG ," --- receive --- 2 ---car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance") V2XBizTrace.onAck( "$TAG --- receive --- 2 ---", "car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance"