[2.15.0][V2N] 添加本地日志; 放宽v2n事件触发条件[diffAngle:20->30, eventAngle: 20 -> 25]
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renwj
@@ -37,7 +37,7 @@ public class V2XAlarmServer {
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CopyOnWriteArrayList<V2XRoadEventEntity> v2XRoadEventEntityList,
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MogoLocation currentLocation) {
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try {
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//Logger.d(TAG, "getDriveFrontAlarmEvent --- 1 ---" + currentLocation );
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Logger.d(TAG, "getDriveFrontAlarmEvent --- 1 ---" + currentLocation );
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if (!showedEvents.isEmpty()) {
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Iterator<V2XRoadEventEntity> iterator = showedEvents.iterator();
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while (iterator.hasNext()) {
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@@ -54,7 +54,7 @@ public class V2XAlarmServer {
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}
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}
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}
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//Logger.d(TAG, "getDriveFrontAlarmEvent --- 2 ---" + currentLocation);
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Logger.d(TAG, "getDriveFrontAlarmEvent --- 2 ---" + currentLocation);
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if (currentLocation != null && v2XRoadEventEntityList != null) {
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// 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
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for (V2XRoadEventEntity v2XRoadEventEntity : v2XRoadEventEntityList) {
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@@ -65,7 +65,7 @@ public class V2XAlarmServer {
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MarkerLocation eventLocation = v2XRoadEventEntity.getLocation();
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// 1、判断是否到达了触发距离,20 ~ 500,
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double distance = v2XRoadEventEntity.getDistance();
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//Logger.d(TAG, "distance:" + distance);
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Logger.d(TAG, "distance:" + distance + ",poiType:" + v2XRoadEventEntity.getPoiType());
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if (distance <= 500) {
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if (EventTypeEnumNew.GHOST_PROBE.getPoiType().equals(v2XRoadEventEntity.getPoiType())) {
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if (distance > 25) {
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@@ -76,8 +76,8 @@ public class V2XAlarmServer {
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double carBearing = currentLocation.getHeading();
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double eventBearing = eventLocation.getAngle();
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double diffAngle = DrivingDirectionUtils.getAngleDiff(carBearing, eventBearing);
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//Logger.d(TAG, "car_bearing:" + carBearing + ",eventBearing:" + eventBearing + ",diffAngle:" + diffAngle);
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if (diffAngle <= 20) {
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Logger.d(TAG, "car_bearing:" + carBearing + ",eventBearing:" + eventBearing + ",diffAngle:" + diffAngle);
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if (diffAngle <= 30) {
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// 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
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double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
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currentLocation.getLongitude(),
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@@ -87,12 +87,12 @@ public class V2XAlarmServer {
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(int) currentLocation.getHeading()
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);
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//Logger.d(TAG, "eventAngle:" + eventAngle);
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if (0 <= eventAngle && eventAngle <= 20) {
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Logger.d(TAG, "eventAngle:" + eventAngle);
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if (0 <= eventAngle && eventAngle <= 25) {
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if (showedEvents.contains(v2XRoadEventEntity)) {
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return null;
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}
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//Logger.d(TAG, "showed---");
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Logger.d(TAG, "showed---");
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showedEvents.add(v2XRoadEventEntity);
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return v2XRoadEventEntity;
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}
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@@ -207,9 +207,8 @@ internal object V2NIdentifyDrawer {
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} catch (t: Throwable) {
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t.printStackTrace()
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}
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val shiGong = trafficData?.filter { it.type == 501 || it.type == 502 }
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Logger.d(TAG, "--- onAutopilotIdentifyDataUpdate -- : trafficData: ${ trafficData?.joinToString(",") }")
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val shiGong = trafficData?.filter { it.type == 501 || it.type == 502 }
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if (shiGong != null && shiGong.isNotEmpty()) {
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drawShiGong(shiGong)
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}
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@@ -221,7 +220,7 @@ internal object V2NIdentifyDrawer {
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override fun onAutopilotV2nCongestionEvent(header: Header, rsi: RSI_PB) {
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super.onAutopilotV2nCongestionEvent(header, rsi)
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Logger.d(TAG, "--- onAutopilotV2nCongestionEvent -- : rsi: ${ GsonUtils.toJson(rsi) }")
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try {
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V2XBizTrace.onAck("onAutopilotV2nCongestionEvent", rsi)
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} catch (t: Throwable) {
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@@ -4,6 +4,7 @@ import android.animation.ArgbEvaluator
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import android.graphics.Color
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import android.os.Handler
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import android.os.Looper
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import android.util.Log
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import android.view.animation.DecelerateInterpolator
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import androidx.core.util.Pair
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import com.mogo.eagle.core.data.map.MogoLatLng
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@@ -88,6 +89,7 @@ class AiRoadMarker {
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300f
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)
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//施工中心点后方的自车行驶方向上300米距离
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Log.d(TAG, "--- marker --- 3 --- l1:$l1")
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V2XBizTrace.onAck("$TAG --- marker --- 3 --- l1:", l1)
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val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(
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marker.poi_lon,
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@@ -96,9 +98,11 @@ class AiRoadMarker {
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-300f
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)
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if (l1.points.isEmpty() || l2.points.isEmpty()) {
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Log.d(TAG, " --- marker --- 3 --- return ----")
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V2XBizTrace.onAck("$TAG --- marker --- 3 --- return ----", "")
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return
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}
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Log.d(TAG, " --- marker --- 4 --- l2: $l2")
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V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2)
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val points = LinkedList<MogoLatLng>()
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if (l2 != null && l2.points.isNotEmpty()) {
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@@ -108,6 +112,7 @@ class AiRoadMarker {
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}
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val centerX = marker.poi_lon
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val centerY = marker.poi_lat
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Log.d(TAG, "--- marker --- 5 --- marker: $marker")
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V2XBizTrace.onAck("$TAG --- marker --- 5 --- marker:", marker)
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val farthestPoint = marker.polygon?.let {
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var find: Pair<Double, Double> = Pair(centerX, centerY)
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@@ -128,6 +133,7 @@ class AiRoadMarker {
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MogoLatLng(find.second, find.first)
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} ?: MogoLatLng(centerY, centerX)
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marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
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Log.d(TAG, "--- marker --- 6 --- marker:$marker")
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V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker)
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if (l1 != null && l1.points.isNotEmpty()) {
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for (l in l1.points) {
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@@ -160,6 +166,7 @@ class AiRoadMarker {
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var line = line.get()
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options.points(points)
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options.colorValues(colors)
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Log.d(TAG, "--- marker --- 7 --- points:${points.size}")
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V2XBizTrace.onAck("$TAG --- marker --- 7 --- points:", "${points.size}")
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if (line == null || line.isDestroyed) {
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val l = overlayManager?.addPolyline(options)
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@@ -183,8 +190,10 @@ class AiRoadMarker {
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private fun removeLine() {
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val old = line.get()
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Log.d(TAG, " --- removeRedLine --- 1")
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V2XBizTrace.onAck("$TAG --- removeRedLine --- 1", "")
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if (old != null) {
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Log.d(TAG,"--- removeRedLine --- 2")
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V2XBizTrace.onAck("$TAG --- removeRedLine --- 2", "")
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line.set(null)
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old.isVisible = false
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@@ -193,6 +202,7 @@ class AiRoadMarker {
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}
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private fun unMarker(marker: Marker) {
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Log.d(TAG,"$TAG --- unMarker ---")
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V2XBizTrace.onAck("$TAG --- unMarker ---", "")
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this.marker.set(null)
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removeLine()
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@@ -202,11 +212,13 @@ class AiRoadMarker {
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}
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fun receive() {
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Log.d(TAG, " --- receive --- 1 ---")
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V2XBizTrace.onAck("$TAG --- receive --- 1 ---", "")
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val poi = this.marker.get()
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val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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if (poi != null) {
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val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
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Log.d(TAG ," --- receive --- 2 ---car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance")
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V2XBizTrace.onAck(
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"$TAG --- receive --- 2 ---",
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"car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance"
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