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fix bug and add log

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This commit is contained in:
zhongchao
2021-05-26 22:40:39 +08:00
parent e47a344640
commit f91c92e1fd
3 changed files with 46 additions and 44 deletions
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4
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
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@@ -181,8 +181,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
long startTime = System.nanoTime();
// 预测点
Log.d(FORECAST, "time internal : " + internal);
double foreCastDistance = adasResult.speed * internal;
Log.d(FORECAST, "time internal : " + internal + " speed : " + adasResult.speed);
double foreCastDistance = adasResult.speed * internal / 1000;
Log.d(FORECAST, "foreCastDistance : " + foreCastDistance);
MogoLatLng mogoLatLng = new MogoLatLng(adasResult.lat, adasResult.lon);
MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, adasResult.heading);

6
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -324,7 +324,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
/**
* 过滤数据,对数据补点 //todo 重构
* 过滤数据,对数据补点
*
* @param in 输入集合
* @param out 输出集合
@@ -378,8 +378,8 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
long startTime = System.nanoTime();
// 预测点
Log.d(FORECAST, "time internal : " + internal);
double foreCastDistance = proto.getSpeed() * internal;
Log.d(FORECAST, "time internal : " + internal + " speed : " + proto.getSpeed());
double foreCastDistance = proto.getSpeed() * internal / 1000;
Log.d(FORECAST, "foreCastDistance : " + foreCastDistance);
MogoLatLng mogoLatLng = new MogoLatLng(proto.getWgslat(), proto.getWgslon());
MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, proto.getHeading());

80
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
View File

@@ -148,19 +148,21 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
@Override
public void onMsgReceived(SocketDownData.LauncherSnapshotProto mogoSnapshotSetData) {
DebugConfig.setStatus(DebugConfig.sDownloadSnapshot, true);
Message msg = mSnapshotHandler.obtainMessage();
msg.obj = mogoSnapshotSetData;
msg.what = MSG_SNAPSHOT;
msg.sendToTarget();
SnapshotSetDataDrawer.getInstance().renderSnapshotData(mogoSnapshotSetData);
// Message msg = mSnapshotHandler.obtainMessage();
// msg.obj = mogoSnapshotSetData;
// msg.what = MSG_SNAPSHOT;
// msg.sendToTarget();
}
});
// adas 每隔一定频率传递过来的数据
MarkerServiceHandler.getApis().getAdasControllerApi().addAdasRecognizedDataCallback(resultList -> {
Message msg = mSnapshotHandler.obtainMessage();
msg.obj = resultList;
msg.what = MSG_ADAS;
msg.sendToTarget();
// Message msg = mSnapshotHandler.obtainMessage();
// msg.obj = resultList;
// msg.what = MSG_ADAS;
// msg.sendToTarget();
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(resultList);
//添加自车的定位图标，碰撞只有一个预警,还需要和adas 联调，
// for ( ADASRecognizedResult result : resultList) {
@@ -204,37 +206,37 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
// }
// }
private final static int MSG_SNAPSHOT = 1;
private final static int MSG_ADAS = 2;
/**
* todo 后续从云端和adas侧拿到的数据 需求对数据流进行重新架构以扩展除添加marker外的其他预警类业务
* todo (应需要模块主动注册adas或云端数据回调，在具体模块内添加绘制需求，需要与地图侧确认是否支持并发)
*/
private final Handler mSnapshotHandler = new Handler(WorkThreadHandler.newInstance("snapshot-thread").getLooper()) {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
switch (msg.what) {
case MSG_SNAPSHOT:
if (msg.obj instanceof SocketDownData.LauncherSnapshotProto) {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(((SocketDownData.LauncherSnapshotProto) msg.obj));
} else {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(null);
}
break;
case MSG_ADAS:
// 绘制近景识别到的车辆
if (msg.obj instanceof List) {
List<ADASRecognizedResult> recognizedResults = (List<ADASRecognizedResult>) msg.obj;
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(recognizedResults);
}
break;
default:
break;
}
}
};
// private final static int MSG_SNAPSHOT = 1;
// private final static int MSG_ADAS = 2;
//
// /**
// * todo 后续从云端和adas侧拿到的数据 需求对数据流进行重新架构以扩展除添加marker外的其他预警类业务
// * todo (应需要模块主动注册adas或云端数据回调，在具体模块内添加绘制需求，需要与地图侧确认是否支持并发)
// */
// private final Handler mSnapshotHandler = new Handler(WorkThreadHandler.newInstance("snapshot-thread").getLooper()) {
// @Override
// public void handleMessage(Message msg) {
// super.handleMessage(msg);
// switch (msg.what) {
// case MSG_SNAPSHOT:
// if (msg.obj instanceof SocketDownData.LauncherSnapshotProto) {
// SnapshotSetDataDrawer.getInstance().renderSnapshotData(((SocketDownData.LauncherSnapshotProto) msg.obj));
// } else {
// SnapshotSetDataDrawer.getInstance().renderSnapshotData(null);
// }
// break;
// case MSG_ADAS:
// // 绘制近景识别到的车辆
// if (msg.obj instanceof List) {
// List<ADASRecognizedResult> recognizedResults = (List<ADASRecognizedResult>) msg.obj;
// AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(recognizedResults);
// }
// break;
// default:
// break;
// }
// }
// };
/**
* 地图上的Marker点击回调