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[V2X][Road]优化超时消失逻辑

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This commit is contained in:
renwj
2022-10-28 12:07:02 +08:00
parent b80700e8fd
commit c365bc85c6
1 changed files with 21 additions and 31 deletions
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52
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
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@@ -58,9 +58,13 @@ object AiRoadMarker {
}
private val checkExpiredTask = Runnable {
val marker = this@AiRoadMarker.marker.get()
if (marker != null) {
unMarker(marker)
val poi = this.marker.get()
val car = this.carLocation.get()
if (poi != null && car != null) {
val distance = DrivingDirectionUtils.distance(car.first, car.second, poi.poi_lon, poi.poi_lat) * 10000
if (distance < 500) {
unMarker(poi)
}
}
}
@@ -183,12 +187,6 @@ object AiRoadMarker {
try {
val loc = arrayOf(location.longitude, location.latitude)
carLocation.set(Triple(loc[0], loc[1], location.bearing.toDouble()))
// val marker = marker.get() ?: return
// val isOutOfRange = isOutOfRange(marker.poi_lon, marker.poi_lat, carLocation.get().first, carLocation.get().second, carLocation.get().third)
// if (isOutOfRange) {
// Logger.d(TAG, "--- onLocationChanged: isOutOfRange --- ")
// unMarker(marker)
// }
} catch (t: Throwable) {
Logger.e(TAG, "error: ${t.message}")
}
@@ -326,35 +324,27 @@ object AiRoadMarker {
fun unMarker(marker: Marker) {
Logger.d(TAG, "--- unMarker ---")
markers -= marker
this.marker.set(null)
removeLine()
V2XAiRoadEventMarker.removeMarkers(null)
handler.removeCallbacks(checkExpiredTask)
}
private fun isOutOfRange(markerLon: Double, markerLat: Double, carLon: Double, carLat: Double, carAngle: Double): Boolean {
return !isFrontOfCar(markerLon, markerLat, carLon, carLat, carAngle)
}
private fun isFrontOfCar(markerLon: Double, markerLat: Double, carLon: Double, carLat: Double, carAngle: Double): Boolean {
val degree = DrivingDirectionUtils.getDegreeOfCar2Poi2(carLon, carLat, markerLon, markerLat, carAngle)
return degree < 90
}
fun receive(marker: Marker) {
val cur = this.marker.get()
Logger.d(TAG, "receive --- 1 ---")
if (cur == marker) {
Logger.d(TAG, "receive --- 2 ---")
val poi = this.marker.get()
val car = this.carLocation.get()
if (poi != null && car != null) {
val distance = DrivingDirectionUtils.distance(car.first, car.second, marker.poi_lon, marker.poi_lat) * 10000
Logger.d(TAG, "receive --- 3 ---:car:[${car.first}, ${car.second}] -> poi:[${marker.poi_lon}, ${marker.poi_lat}] --> distance:$distance")
if (distance < 200) {
checkExpired()
} else {
handler.removeCallbacks(checkExpiredTask)
}
val poi = this.marker.get()
val car = this.carLocation.get()
if (poi != null && car != null) {
val distance = DrivingDirectionUtils.distance(car.first, car.second, marker.poi_lon, marker.poi_lat) * 10000
Logger.d(TAG, "receive --- 2 ---:car:[${car.first}, ${car.second}] -> poi:[${marker.poi_lon}, ${marker.poi_lat}] --> distance:$distance")
if (distance < 500) {
checkExpired()
} else {
handler.removeCallbacks(checkExpiredTask)
}
} else {
if (poi != null) {
checkExpired()
}
}
}