300 lines
18 KiB
Kotlin
300 lines
18 KiB
Kotlin
package com.mogo.functions.test
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import android.text.TextUtils
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import android.util.Log
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import androidx.test.core.app.ActivityScenario
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import androidx.test.ext.junit.runners.AndroidJUnit4
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import androidx.test.filters.LargeTest
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import androidx.test.platform.app.InstrumentationRegistry
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import com.google.protobuf.ByteString
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import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
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import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
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import com.mogo.eagle.core.data.config.FunctionBuildConfig
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import com.mogo.eagle.core.data.multidisplay.TelematicConstant
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import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
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import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
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import com.mogo.eagle.core.function.main.MainLauncherActivity
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import com.mogo.eagle.core.utilcode.util.CoordinateUtils
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import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
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import com.mogo.eagle.core.utilcode.util.GsonUtils
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import com.mogo.map.MapDataWrapper
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import kotlinx.coroutines.delay
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import kotlinx.coroutines.runBlocking
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import mogo.telematics.pad.MessagePad
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import mogo.telematics.pad.MessagePad.Location
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import mogo.telematics.pad.MessagePad.TrackedObject
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import mogo.telematics.pad.MessagePad.V2nCrossSpeed
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import org.junit.Before
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import org.junit.Test
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import org.junit.runner.RunWith
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import java.util.Collections
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import java.util.concurrent.TimeUnit
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import kotlin.math.cos
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import kotlin.math.sin
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@RunWith(AndroidJUnit4::class)
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@LargeTest
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class V2NTest {
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companion object {
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private const val TAG = "GreenWaveTest"
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}
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lateinit var launch: ActivityScenario<MainLauncherActivity>
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@Before
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fun before() {
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launch = ActivityScenario.launch(MainLauncherActivity::class.java)
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}
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@Test
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fun testRoadShiGong(): Unit = runBlocking {
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val arguments = InstrumentationRegistry.getArguments()
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val millis = arguments.getString("delay", "0").toLong()
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if (millis > 0) {
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delay(millis)
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}
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FunctionBuildConfig.v2nTotalSwitch = true
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runCatching {
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val map = HashMap<String, Boolean>().also {
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it["f1"] = FunctionBuildConfig.v2nTotalSwitch
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}
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
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}
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delay(2000)
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val targetX = arguments.getString("lon", "0").toDouble()
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val targetY = arguments.getString("lat", "0").toDouble()
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val targetDistance = arguments.getString("distance", "0").toDouble()
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val eventDistance = arguments.getString("event_distance", "50").toDouble()
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val r = arguments.getString("r", "1").toDouble()
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var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance, event_distance: $eventDistance")
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while (distance > targetDistance) {
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delay(2000)
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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}
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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val point = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , eventDistance)
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val polygon = generateTriangle(point.first, point.second, car.heading, r * 1e-5)
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val data = TrackedObject.getDefaultInstance().toBuilder().setType(501).setLongitude(point.first).setLatitude(point.second).setAltitude(0.0).setSystemTime(System.currentTimeMillis() * 1.0 / 1000).setSatelliteTime(1.0).setUuid(10).setCarID("1").setColor("#ffffff").setHeading(car.heading).setSpeed(0.0).setDrawLevel(1).setDriverTime(1.0).setCameraIp("172.18.7.40").setVideoUrl("").addAllImageUrl(Collections.singletonList("http://www.baidu.com")).addAllPolygon(polygon.map { Location.getDefaultInstance().toBuilder().setLongitude(it.first).setLatitude(it.second).setAltitude(0.0).setHeading(0.0).setStation(false).build() }).setDetectStartTime(System.currentTimeMillis()).setV2XUuid("xxxxx1").setStrUuid("xxxxx2").build()
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val trafficData = Collections.singletonList(data)
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_SHI_GONG, data.toByteArray())
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CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate(trafficData)
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delay(TimeUnit.MINUTES.toMillis(10))
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}
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@Test
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fun testRoadShiGu(): Unit = runBlocking {
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val arguments = InstrumentationRegistry.getArguments()
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val millis = arguments.getString("delay", "0").toLong()
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if (millis > 0) {
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delay(millis)
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}
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// FunctionBuildConfig.v2nNewLinked = true
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FunctionBuildConfig.v2nTotalSwitch = true
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runCatching {
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val map = HashMap<String, Boolean>().also {
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it["f1"] = FunctionBuildConfig.v2nTotalSwitch
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}
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
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}
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delay(2000)
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val targetX = arguments.getString("lon", "0").toDouble()
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val targetY = arguments.getString("lat", "0").toDouble()
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val targetDistance = arguments.getString("distance", "0").toDouble()
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val eventDistance = arguments.getString("event_distance", "0").toDouble()
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val r = arguments.getString("r", "1").toDouble()
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var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance, event_distance: $eventDistance")
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while (distance > targetDistance) {
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delay(2000)
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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}
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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val point = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , eventDistance)
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val polygon = generateTriangle(point.first, point.second, car.heading, r * 1e-5)
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val data = TrackedObject.getDefaultInstance().toBuilder().setType(13).setLongitude(point.first).setLatitude(point.second).setAltitude(0.0).setSystemTime(System.currentTimeMillis() * 1.0 / 1000).setSatelliteTime(1.0).setUuid(10).setCarID("1").setColor("#ffffff").setHeading(car.heading).setSpeed(0.0).setDrawLevel(1).setDriverTime(1.0).setCameraIp("172.18.7.40").setVideoUrl("").addAllImageUrl(Collections.singletonList("http://www.baidu.com")).addAllPolygon(polygon.map { Location.getDefaultInstance().toBuilder().setLongitude(it.first).setLatitude(it.second).setAltitude(0.0).setHeading(0.0).setStation(false).build() }).setDetectStartTime(System.currentTimeMillis()).setV2XUuid("xxxxx1").setStrUuid("xxxxx2").build()
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val trafficData = Collections.singletonList(data)
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CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also {
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it.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
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})
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_SHI_GU, data.toByteArray())
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CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate(trafficData)
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delay(TimeUnit.MINUTES.toMillis(10))
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}
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private fun generateTriangle(x: Double, y: Double, angle: Double, r: Double): List<Pair<Double, Double>> {
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val angles = arrayOf(0, 120, 240)
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val coordinates = ArrayList<Pair<Double, Double>>()
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for(i in 0 until 3) {
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val radian = Math.toRadians(angles[i] + angle)
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val x1 = x + (r * cos(radian))
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val y1 = y + (r * sin(radian))
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coordinates += Pair(x1, y1)
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}
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coordinates.add(coordinates[0])
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return coordinates
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}
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@Test
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fun testGreenWave(): Unit = runBlocking {
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val arguments = InstrumentationRegistry.getArguments()
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val millis = arguments.getString("delay", "0").toLong()
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if (millis > 0) {
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delay(millis)
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}
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val targetX = arguments.getString("lon", "0").toDouble()
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val targetY = arguments.getString("lat", "0").toDouble()
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val targetDistance = arguments.getString("distance", "0").toDouble()
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var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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while (distance > targetDistance) {
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delay(2000)
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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}
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Log.d(TAG, "开始获取路口数据...")
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var crossInfo = MapDataWrapper.getCrossRoad(car.longitude, car.latitude, car.heading)
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while (crossInfo == null || TextUtils.isEmpty(crossInfo.cross_id) || TextUtils.isEmpty(crossInfo.cross_id_end)) {
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Log.d(TAG, "获取到的路口数据无效, 1秒后重试")
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delay(TimeUnit.SECONDS.toMillis(1))
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Log.d(TAG, "1秒时间到，开始计算新的路口数据")
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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crossInfo = MapDataWrapper.getCrossRoad(car.longitude, car.latitude, car.heading)
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}
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val newPoint = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , 200.0)
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Log.d(TAG, "获取到路口数据..., 自车:[${car.longitude}, ${car.latitude}]前方200米外的点: [${newPoint.first}, ${newPoint.second}]")
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// FunctionBuildConfig.v2nNewLinked = true
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FunctionBuildConfig.v2nTotalSwitch = true
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runCatching {
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val map = HashMap<String, Boolean>().also {
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it["f1"] = FunctionBuildConfig.v2nTotalSwitch
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}
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
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}
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delay(2000)
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val data = V2nCrossSpeed.getDefaultInstance().toBuilder().setSpeedLeftMin(0).setSpeedLeftMax(0).setSpeedRightMin(0).setSpeedRightMax(0).setSpeedStraightMin(30).setSpeedStraightMax(54).setMaxSpeed(0).setMaxStatus(0).setLng(newPoint.first).setLat(newPoint.second).build()
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CallerV2nNioEventListenerManager.invokeV2nNioGreenWavePassageEvent(data)
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CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also {
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it.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
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})
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while (!CallerTelematicManager.getServerStarted()) {
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Log.d(TAG , "乘客屏未连接, 2秒后重试...")
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delay(2000)
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}
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Log.d(TAG, "乘客屏已连接, 将数据发送给乘客屏...")
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_GREEN_WAVE, data.toByteArray())
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delay(TimeUnit.MINUTES.toMillis(10))
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}
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@Test
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fun testPeopleCross(): Unit = runBlocking {
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val arguments = InstrumentationRegistry.getArguments()
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val millis = arguments.getString("delay", "0").toLong()
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if (millis > 0) {
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delay(millis)
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}
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// FunctionBuildConfig.v2nNewLinked = true
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FunctionBuildConfig.v2nTotalSwitch = true
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runCatching {
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val map = HashMap<String, Boolean>().also {
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it["f1"] = FunctionBuildConfig.v2nTotalSwitch
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}
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
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}
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delay(2000)
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val targetX = arguments.getString("lon", "0").toDouble()
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val targetY = arguments.getString("lat", "0").toDouble()
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val targetHeading = arguments.getString("angle", "0").toDouble()
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val targetDistance = arguments.getString("distance", "0").toDouble()
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val eventDistance = arguments.getString("event_distance", "60").toDouble()
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var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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while (distance > targetDistance) {
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delay(2000)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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}
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Log.d(TAG, "2 -- > target_distance: $targetDistance, current distance: $distance")
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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var newPoint = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , eventDistance)
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Log.d(TAG, "location:[x:${targetX}, y:${targetY}, new_location:[x:${newPoint.first}, y:${newPoint.second}]")
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val eventId = "xxxxxxxxxxxxx"
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CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also {
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it.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
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})
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for (i in 0 until 500) {
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val data = MessagePad.Event.getDefaultInstance().toBuilder().setLongitude(newPoint.first).setLatitude(newPoint.second).setGnssType(2).setEventId(eventId).setTimestamp(System.currentTimeMillis()).addAllTargetIds(emptyList()).addTargetIdsBytes(ByteString.EMPTY).addTargetIds("0").setExts("{ \"cameraIp\": \"172.18.7.40\",\"eventExtUnits\":[{\"heading\":266.5414733886719,\"uuid\":\"e440951e-5eb6-4091-8560-72a5d8aaf229\"}] }").build()
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_PEOPLE_CROSS, data.toByteArray())
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CallerV2nNioEventListenerManager.invokeV2nNioCrossoverEvent(data)
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delay(50)
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newPoint = DrivingDirectionUtils.calculateNewPoint(newPoint.first, newPoint.second, targetHeading, 1.0)
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}
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delay(TimeUnit.MINUTES.toMillis(10))
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}
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@Test
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fun testOtherRetrogradeVehicle(): Unit = runBlocking {
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val arguments = InstrumentationRegistry.getArguments()
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val millis = arguments.getString("delay", "0").toLong()
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if (millis > 0) {
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delay(millis)
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}
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// FunctionBuildConfig.v2nNewLinked = true
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FunctionBuildConfig.v2nTotalSwitch = true
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runCatching {
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val map = HashMap<String, Boolean>().also {
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it["f1"] = FunctionBuildConfig.v2nTotalSwitch
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}
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
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}
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delay(2000)
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val targetX = arguments.getString("lon", "0").toDouble()
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val targetY = arguments.getString("lat", "0").toDouble()
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val targetHeading = arguments.getString("angle", "0").toDouble()
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val targetDistance = arguments.getString("distance", "0").toDouble()
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val eventDistance = arguments.getString("event_distance", "60").toDouble()
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var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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while (distance > targetDistance) {
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delay(2000)
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Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
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}
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car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
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Log.d(TAG, "2 -- > target_distance: $targetDistance, current distance: $distance")
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var newPoint = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , eventDistance)
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Log.d(TAG, "location:[x:${targetX}, y:${targetY}, new_location:[x:${newPoint.first}, y:${newPoint.second}]")
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val eventId = System.currentTimeMillis().toString()
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CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also {
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it.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
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})
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for (i in 0 until 500) {
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val data = MessagePad.Event.getDefaultInstance().toBuilder().setLongitude(newPoint.first).setLatitude(newPoint.second).setEventId(eventId).setTimestamp(System.currentTimeMillis()).addAllTargetIds(emptyList()).addTargetIdsBytes(ByteString.EMPTY).setGnssType(2).addTargetIds("0").setExts("{ \"cameraIp\": \"172.18.7.40\",\"eventExtUnits\":[{\"heading\":266.5414733886719,\"uuid\":\"e440951e-5eb6-4091-8560-72a5d8aaf229\"}] }").build()
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CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_OTHER_RETROGRADE_VEHICLE, data.toByteArray())
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CallerV2nNioEventListenerManager.invokeV2nNioOtherRetrogradeEvent(data)
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delay(50)
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newPoint = DrivingDirectionUtils.calculateNewPoint(newPoint.first, newPoint.second, targetHeading, 1.0)
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}
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delay(TimeUnit.MINUTES.toMillis(10))
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}
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}
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