修改大车转向预警的bug

EventsRos.cpp

@@ -253,6 +253,8 @@ void EventsRos::TrackCallBackFunc(const jfxrosperceiver::det_tracking_arrayConst
         obj.dev_no = m_devNo;
         obj.mec_no = m_mecNo;
         obj.time = item.frame;//时间戳
+        if(objsPtr->timestamp == 0)
+            objsPtr->timestamp = item.frame;
         obj.prob = item.score;//置信度
         obj.name = item.name;//类型名称，其中包括car truck bus 自行车，行人
         obj.type = item.type;//类型值，基本上与上面的类型对应
@@ -386,7 +388,7 @@ void EventsRos::SendRosEvents(TrkObjsPtr& outs)
         msg.laneId = iter._laneId;
         msg.color_name = iter.vehicleColor;
 #ifdef _USING_NEW_JFXMAP_        
-        printf("check GetMapData send framenum = %d, id = %llu, strRoadName = %s\n",iter.frameNum,iter.id,iter.linkName.c_str());	
+        // printf("check GetMapData send framenum = %d, id = %llu, strRoadName = %s\n",iter.frameNum,iter.id,iter.linkName.c_str());	
 #endif
         for(auto _its : iter.points)
         {
@@ -463,6 +465,16 @@ void EventsRos::SendRosEvents(TrkObjsPtr& outs)
         traffic.lane_angle = angle > 360 ? angle - 360 : angle;
         eventMsgs.traffic.emplace_back(traffic);
     }
+    for(auto& its : outs->turnRight)
+    {
+        jfx_common_msgs::TurnRightAlter turnR = {};
+        turnR.timestamp = its.timestamp;
+        turnR.orien = its.orien;
+        turnR.status = its.status;
+        turnR.longitude = its.longitude;
+        turnR.latitude = its.latitude;
+        eventMsgs.turnRight.emplace_back(turnR);
+    }
     if (outs->pt.size() == 4)
     {
         eventMsgs.pt.push_back(outs->pt[0]);

events/JfxEvents.cpp

@@ -2024,9 +2024,10 @@ void JfxEvents::ProcessSendEvents2(TrkObjsPtr& objsPtr)
             turn.timestamp = objsPtr->timestamp;
             turn.orien = iter.first;
             turn.status = 0;
-            turn.longitude = m_turnRightPoints[iter.first][0];
-            turn.latitude = m_turnRightPoints[iter.first][1];
+            turn.longitude = m_turnRightPoints[iter.first][0]*1e7;
+            turn.latitude = m_turnRightPoints[iter.first][1]*1e7;
             objsPtr->turnRight.emplace_back(turn);
+            SDK_LOG(SDK_INFO, "turn right alter end frameCount = %d, timestamp = %llu,orien = %d, status = %d, lon = %.8f, lat = %.8f", m_frameNum,turn.timestamp,turn.orien,turn.status,turn.longitude, turn.latitude);
             iter.second = 0;
         }
     }
@@ -2040,9 +2041,10 @@ void JfxEvents::ProcessSendEvents2(TrkObjsPtr& objsPtr)
             turn.timestamp = objsPtr->timestamp;
             turn.orien = iter.first;
             turn.status = 1;
-            turn.longitude = turnRightPoint[iter.first][0];
-            turn.latitude = turnRightPoint[iter.first][1];
+            turn.longitude = turnRightPoint[iter.first][0]*1e7;
+            turn.latitude = turnRightPoint[iter.first][1]*1e7;
             objsPtr->turnRight.emplace_back(turn);
+            SDK_LOG(SDK_INFO, "turn right alter begin frameCount = %d, timestamp = %llu,orien = %d, status = %d, lon = %llu, lat = %llu, num = %d", m_frameNum,turn.timestamp,turn.orien,turn.status,turn.longitude, turn.latitude,iter.second);
             m_turnRightStatus[iter.first] = iter.second;
         }
         else