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prepare routingHelper code for debugging

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sonora 2012-03-20 21:33:15 +01:00
parent 562447dc42
commit 9a1a99bec2
1 changed files with 35 additions and 36 deletions
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71
OsmAnd/src/net/osmand/plus/routing/RoutingHelper.java
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@ -33,6 +33,7 @@ public class RoutingHelper {
public void routeWasCancelled(); public void routeWasCancelled();
} }
private final float LOCATION_TOLERANCE = 60;
private final double DISTANCE_TO_USE_OSMAND_ROUTER = 20000; private final double DISTANCE_TO_USE_OSMAND_ROUTER = 20000;
@ -178,8 +179,8 @@ public class RoutingHelper {
public boolean finishAtLocation(Location currentLocation) { public boolean finishAtLocation(Location currentLocation) {
Location lastPoint = routeNodes.get(routeNodes.size() - 1); Location lastPoint = routeNodes.get(routeNodes.size() - 1);
if(currentRoute > routeNodes.size() - 3 && currentLocation.distanceTo(lastPoint) < 60){ if(currentRoute > routeNodes.size() - 3 && currentLocation.distanceTo(lastPoint) < LOCATION_TOLERANCE){
if(lastFixedLocation != null && lastFixedLocation.distanceTo(lastPoint) < 60){ if(lastFixedLocation != null && lastFixedLocation.distanceTo(lastPoint) < LOCATION_TOLERANCE){
showMessage(context.getString(R.string.arrived_at_destination)); showMessage(context.getString(R.string.arrived_at_destination));
voiceRouter.arrivedDestinationPoint(); voiceRouter.arrivedDestinationPoint();
clearCurrentRoute(null); clearCurrentRoute(null);
@ -239,12 +240,12 @@ public class RoutingHelper {
// 3. check if closest location already passed // 3. check if closest location already passed
if(currentRoute + 1 < routeNodes.size()){ if(currentRoute + 1 < routeNodes.size()){
float bearing = routeNodes.get(currentRoute).bearingTo(routeNodes.get(currentRoute + 1)); float bearingRouteNext = routeNodes.get(currentRoute).bearingTo(routeNodes.get(currentRoute + 1));
float bearingMovement = currentLocation.bearingTo(routeNodes.get(currentRoute)); float bearingToRoute = currentLocation.bearingTo(routeNodes.get(currentRoute));
// only 35 degrees for that case because it wrong catches sharp turns // only 35 degrees for that case because it wrong catches sharp turns
if(Math.abs(bearing - bearingMovement) > 140 && Math.abs(bearing - bearingMovement) < 220){ if(Math.abs(bearingRouteNext - bearingToRoute) > 140 && Math.abs(bearingRouteNext - bearingToRoute) < 220){
if(log.isDebugEnabled()){ if(log.isDebugEnabled()){
log.debug("Processed point movement bearing : "+bearingMovement +" bearing " + bearing); //$NON-NLS-1$ //$NON-NLS-2$ log.debug("Processed point bearingToRoute : "+ bearingToRoute +" bearingRouteNext " + bearingRouteNext); //$NON-NLS-1$ //$NON-NLS-2$
} }
updateCurrentRoute(currentRoute + 1); updateCurrentRoute(currentRoute + 1);
} }
@ -253,12 +254,12 @@ public class RoutingHelper {
// 3.5 check that we already pass very sharp turn by missing one point (so our turn is sharper than expected) // 3.5 check that we already pass very sharp turn by missing one point (so our turn is sharper than expected)
// instead of that rule possible could be introduced another if the dist < 5m mark the location as already passed // instead of that rule possible could be introduced another if the dist < 5m mark the location as already passed
if(currentRoute + 2 < routeNodes.size()){ if(currentRoute + 2 < routeNodes.size()){
float bearing = routeNodes.get(currentRoute + 1).bearingTo(routeNodes.get(currentRoute + 2)); float bearingRouteNextNext = routeNodes.get(currentRoute + 1).bearingTo(routeNodes.get(currentRoute + 2));
float bearingMovement = currentLocation.bearingTo(routeNodes.get(currentRoute + 1)); float bearingToRouteNext = currentLocation.bearingTo(routeNodes.get(currentRoute + 1));
// only 15 degrees for that case because it wrong catches sharp turns // only 15 degrees for that case because it wrong catches sharp turns
if(Math.abs(bearing - bearingMovement) > 165 && Math.abs(bearing - bearingMovement) < 195){ if(Math.abs(bearingRouteNextNext - bearingToRouteNext) > 165 && Math.abs(bearingRouteNextNext - bearingToRouteNext) < 195){
if(log.isDebugEnabled()){ if(log.isDebugEnabled()){
log.debug("Processed point movement bearing 2 : "+bearingMovement +" bearing " + bearing); //$NON-NLS-1$ //$NON-NLS-2$ log.debug("Processed point bearingToRouteNext : "+ bearingToRouteNext +" bearingRouteNextNext " + bearingRouteNextNext); //$NON-NLS-1$ //$NON-NLS-2$
} }
updateCurrentRoute(currentRoute + 2); updateCurrentRoute(currentRoute + 2);
} }
@ -266,10 +267,10 @@ public class RoutingHelper {
// 4. >60m away from current routeNode? Then re-calculate route. // 4. >60m away from current routeNode? Then re-calculate route.
if(currentRoute > 0){ if(currentRoute > 0){
float bearing = routeNodes.get(currentRoute - 1).bearingTo(routeNodes.get(currentRoute)); float bearingRoute = routeNodes.get(currentRoute - 1).bearingTo(routeNodes.get(currentRoute));
float bearingMovement = currentLocation.bearingTo(routeNodes.get(currentRoute)); float bearingToRoute = currentLocation.bearingTo(routeNodes.get(currentRoute));
float d = Math.abs(currentLocation.distanceTo(routeNodes.get(currentRoute)) * FloatMath.sin((bearingMovement - bearing)*3.14f/180f)); float d = Math.abs(currentLocation.distanceTo(routeNodes.get(currentRoute)) * FloatMath.sin((bearingToRoute - bearingRoute)*3.14f/180f));
if(d > 60) { if(d > LOCATION_TOLERANCE) {
log.info("Recalculate route, because correlation : " + d); //$NON-NLS-1$ log.info("Recalculate route, because correlation : " + d); //$NON-NLS-1$
calculateRoute = true; calculateRoute = true;
} }
@ -278,7 +279,7 @@ public class RoutingHelper {
// 5. Sum distance to last and current route nodes // 5. Sum distance to last and current route nodes
if(!calculateRoute){ if(!calculateRoute){
float d = currentLocation.distanceTo(routeNodes.get(currentRoute)); float d = currentLocation.distanceTo(routeNodes.get(currentRoute));
if (d > 60) { if (d > LOCATION_TOLERANCE) {
if (currentRoute > 0) { if (currentRoute > 0) {
// 5a. Greater than 2*distance between them? Then re-calculate route. (Case often covered by 4., but still needed.) // 5a. Greater than 2*distance between them? Then re-calculate route. (Case often covered by 4., but still needed.)
float f1 = currentLocation.distanceTo(routeNodes.get(currentRoute - 1)) + d; float f1 = currentLocation.distanceTo(routeNodes.get(currentRoute - 1)) + d;
@ -306,7 +307,7 @@ public class RoutingHelper {
lastFixedLocation = currentLocation; lastFixedLocation = currentLocation;
// 8. Strange Direction? Then re-calculate route. (Added new, may possibly even replace triggers 4, 5a, 5b ?) // 8. Strange Direction? Then re-calculate route. (Added new, may possibly even replace triggers 4, 5a, 5b ?)
if(suppressTurnPrompt && (currentLocation.distanceTo(routeNodes.get(currentRoute)) > 60) ){ if(suppressTurnPrompt && (currentLocation.distanceTo(routeNodes.get(currentRoute)) > 2*LOCATION_TOLERANCE) ){
calculateRoute = true; calculateRoute = true;
} }
@ -326,10 +327,10 @@ public class RoutingHelper {
// may be that check is really not needed ? only for start position // may be that check is really not needed ? only for start position
if(currentRoute > 0 ){ if(currentRoute > 0 ){
// check that we are not far from the route (if we are on the route distance doesn't matter) // check that we are not far from the route (if we are on the route distance doesn't matter)
float bearing = routeNodes.get(currentRoute - 1).bearingTo(routeNodes.get(currentRoute)); float bearingRoute = routeNodes.get(currentRoute - 1).bearingTo(routeNodes.get(currentRoute));
float bearingMovement = currentLocation.bearingTo(routeNodes.get(currentRoute)); float bearingToRoute = currentLocation.bearingTo(routeNodes.get(currentRoute));
float d = Math.abs(currentLocation.distanceTo(routeNodes.get(currentRoute)) * FloatMath.sin((bearingMovement - bearing)*3.14f/180f)); float d = Math.abs(currentLocation.distanceTo(routeNodes.get(currentRoute)) * FloatMath.sin((bearingToRoute - bearingRoute)*3.14f/180f));
if(d > 60){ if(d > LOCATION_TOLERANCE){
processed = true; processed = true;
} }
} else { } else {
@ -342,14 +343,13 @@ public class RoutingHelper {
// case if you are getting close to the next point after turn // case if you are getting close to the next point after turn
// but you haven't turned before (could be checked bearing) // but you haven't turned before (could be checked bearing)
if(currentLocation.hasBearing() || lastFixedLocation != null){ if(currentLocation.hasBearing() || lastFixedLocation != null){
float bearingToPoint = currentLocation.bearingTo(routeNodes.get(currentRoute)); float bearingToRoute = currentLocation.bearingTo(routeNodes.get(currentRoute));
float bearingBetweenPoints = routeNodes.get(currentRoute).bearingTo(routeNodes.get(currentRoute+1)); float bearingRouteNext = routeNodes.get(currentRoute).bearingTo(routeNodes.get(currentRoute+1));
float bearing = currentLocation.hasBearing() ? currentLocation.getBearing() : lastFixedLocation.bearingTo(currentLocation); float bearingMotion = currentLocation.hasBearing() ? currentLocation.getBearing() : lastFixedLocation.bearingTo(currentLocation);
if(Math.abs(bearing - bearingToPoint) > if(Math.abs(bearingMotion - bearingToRoute) > Math.abs(bearingMotion - bearingRouteNext)){
Math.abs(bearing - bearingBetweenPoints)){
if(log.isDebugEnabled()){ if(log.isDebugEnabled()){
log.debug("Processed point bearing : " + Math.abs(currentLocation.getBearing() - bearingToPoint) + " " //$NON-NLS-1$ //$NON-NLS-2$ log.debug("Processed point bearing deltas : " + Math.abs(currentLocation.getBearing() - bearingToRoute) + " " //$NON-NLS-1$ //$NON-NLS-2$
+ Math.abs(currentLocation.getBearing() - bearingBetweenPoints)); + Math.abs(currentLocation.getBearing() - bearingRouteNext));
} }
processed = true; processed = true;
} }
@ -376,29 +376,28 @@ public class RoutingHelper {
// 6. + 7. Direction detection, by Hardy, Feb 2012 // 6. + 7. Direction detection, by Hardy, Feb 2012
if(routeNodes.size() > 0){ if(routeNodes.size() > 0){
if (currentLocation.hasBearing() || lastFixedLocation != null) { if (currentLocation.hasBearing() || lastFixedLocation != null) {
float bearing = currentLocation.hasBearing() ? currentLocation.getBearing() : lastFixedLocation.bearingTo(currentLocation); float bearingMotion = currentLocation.hasBearing() ? currentLocation.getBearing() : lastFixedLocation.bearingTo(currentLocation);
float bearingRoute; float bearingToRoute = currentLocation.bearingTo(routeNodes.get(currentRoute));
bearingRoute = currentLocation.bearingTo(routeNodes.get(currentRoute));
// 6. Suppress turn prompt if prescribed direction of motion is between 45 and 135 degrees off // 6. Suppress turn prompt if prescribed direction of motion is between 45 and 135 degrees off
if (Math.abs(bearing - bearingRoute) > 45f && 360 - Math.abs(bearing - bearingRoute) > 45f) { if (Math.abs(bearingMotion - bearingToRoute) > 45f && 360 - Math.abs(bearingMotion - bearingToRoute) > 45f) {
// disregard upper bound to suppress turn prompt also for recalculated still-opposite route // disregard upper bound to suppress turn prompt also for recalculated still-opposite route
//if (Math.abs(bearing - bearingRoute) <= 135f && 360 - Math.abs(bearing - bearingRoute) <= 135f) { //if (Math.abs(bearingMotion - bearingToRoute) <= 135f && 360 - Math.abs(bearingMotion - bearingToRoute) <= 135f) {
suppressTurnPrompt = true; suppressTurnPrompt = true;
//log.info("Bearing is off from bearingRoute between >45 and <=135 degrees"); //$NON-NLS-1$ //log.info("bearingMotion is off from bearingToRoute between >45 and <=135 degrees"); //$NON-NLS-1$
//} //}
} }
// 7. Check necessity for unscheduled U-turn, Issue 863 // 7. Check necessity for unscheduled U-turn, Issue 863
if (Math.abs(bearing - bearingRoute) > 135f && 360 - Math.abs(bearing - bearingRoute) > 135f) { if (Math.abs(bearingMotion - bearingToRoute) > 135f && 360 - Math.abs(bearingMotion - bearingToRoute) > 135f) {
float d = currentLocation.distanceTo(routeNodes.get(currentRoute)); float d = currentLocation.distanceTo(routeNodes.get(currentRoute));
// 60m tolerance to allow for GPS inaccuracy // 60m tolerance to allow for GPS inaccuracy
if (d > 60) { if (d > LOCATION_TOLERANCE) {
if (makeUTwpDetected == 0) { if (makeUTwpDetected == 0) {
makeUTwpDetected = System.currentTimeMillis(); makeUTwpDetected = System.currentTimeMillis();
// require 5 sec since first detection, to avoid false positive announcements // require 5 sec since first detection, to avoid false positive announcements
} else if ((System.currentTimeMillis() - makeUTwpDetected > 5000)) { } else if ((System.currentTimeMillis() - makeUTwpDetected > 5000)) {
makeUturnWhenPossible = true; makeUturnWhenPossible = true;
turnImminent = 1; turnImminent = 1;
//log.info("Bearing is opposite to bearingRoute"); //$NON-NLS-1$ //log.info("bearingMotion is opposite to bearingRoute"); //$NON-NLS-1$
} }
} }
} else { } else {