public boolean identifyUTurnIsNeeded(Location currentLocation, float posTolerance) {
if (finalLocation == null || currentLocation == null || !route.isCalculated()) {
this.makeUturnWhenPossible = false;
return makeUturnWhenPossible;
}
boolean makeUturnWhenPossible = false;
if (currentLocation.hasBearing()) {
float bearingMotion = currentLocation.getBearing();
Location nextRoutePosition = route.getNextRouteLocation();
float bearingToRoute = currentLocation.bearingTo(nextRoutePosition);
double diff = MapUtils.degreesDiff(bearingMotion, bearingToRoute);
// 7. Check if you left the route and an unscheduled U-turn would bring you back (also Issue
// 863)
// This prompt is an interim advice and does only sound if a new route in forward direction
// could not be found in x seconds
if (Math.abs(diff) > 135f) {
float d = currentLocation.distanceTo(nextRoutePosition);
// 60m tolerance to allow for GPS inaccuracy
if (d > posTolerance) {
// require x sec continuous since first detection
if (makeUTwpDetected == 0) {
makeUTwpDetected = System.currentTimeMillis();
} else if ((System.currentTimeMillis() - makeUTwpDetected > 10000)) {
makeUturnWhenPossible = true;
// log.info("bearingMotion is opposite to bearingRoute"); //$NON-NLS-1$
}
}
} else {
makeUTwpDetected = 0;
}
}
this.makeUturnWhenPossible = makeUturnWhenPossible;
return makeUturnWhenPossible;
}
private Location setCurrentLocation(
Location currentLocation,
boolean returnUpdatedLocation,
RouteCalculationResult previousRoute) {
Location locationProjection = currentLocation;
if (finalLocation == null || currentLocation == null) {
makeUturnWhenPossible = false;
return locationProjection;
}
float posTolerance = POSITION_TOLERANCE;
if (currentLocation.hasAccuracy()) {
posTolerance = POSITION_TOLERANCE / 2 + currentLocation.getAccuracy();
}
boolean calculateRoute = false;
synchronized (this) {
// 0. Route empty or needs to be extended? Then re-calculate route.
if (route.isEmpty()) {
calculateRoute = true;
} else {
// 1. Update current route position status according to latest received location
boolean finished = updateCurrentRouteStatus(currentLocation, posTolerance);
if (finished) {
return null;
}
List<Location> routeNodes = route.getImmutableAllLocations();
int currentRoute = route.currentRoute;
// 2. Analyze if we need to recalculate route
// >100m off current route (sideways)
if (currentRoute > 0) {
double dist =
getOrthogonalDistance(
currentLocation, routeNodes.get(currentRoute - 1), routeNodes.get(currentRoute));
if (dist > 1.7 * posTolerance) {
log.info("Recalculate route, because correlation : " + dist); // $NON-NLS-1$
calculateRoute = true;
}
if (dist > 350) {
voiceRouter.announceOffRoute(dist);
}
}
// 3. Identify wrong movement direction
Location next = route.getNextRouteLocation();
boolean wrongMovementDirection = checkWrongMovementDirection(currentLocation, next);
if (wrongMovementDirection
&& currentLocation.distanceTo(routeNodes.get(currentRoute)) > 2 * posTolerance) {
log.info(
"Recalculate route, because wrong movement direction: "
+ currentLocation.distanceTo(routeNodes.get(currentRoute))); // $NON-NLS-1$
calculateRoute = true;
}
// 4. Identify if UTurn is needed
boolean uTurnIsNeeded = identifyUTurnIsNeeded(currentLocation, posTolerance);
// 5. Update Voice router
if (isFollowingMode) {
// don't update in route planing mode
announceGpxWaypoints(currentLocation);
boolean inRecalc = calculateRoute || isRouteBeingCalculated();
if (!inRecalc && !uTurnIsNeeded && !wrongMovementDirection) {
voiceRouter.updateStatus(currentLocation, false);
} else if (uTurnIsNeeded) {
voiceRouter.makeUTStatus();
}
}
// calculate projection of current location
if (currentRoute > 0) {
locationProjection = new Location(currentLocation);
Location nextLocation = routeNodes.get(currentRoute);
LatLon project =
getProject(
currentLocation, routeNodes.get(currentRoute - 1), routeNodes.get(currentRoute));
locationProjection.setLatitude(project.getLatitude());
locationProjection.setLongitude(project.getLongitude());
// we need to update bearing too
float bearingTo = locationProjection.bearingTo(nextLocation);
locationProjection.setBearing(bearingTo);
}
}
lastFixedLocation = currentLocation;
lastProjection = locationProjection;
}
if (calculateRoute) {
recalculateRouteInBackground(
false,
currentLocation,
finalLocation,
intermediatePoints,
currentGPXRoute,
previousRoute.isCalculated() ? previousRoute : null);
} else if (currentRunningJob != null && currentRunningJob instanceof RouteRecalculationThread) {
RouteRecalculationThread thread = (RouteRecalculationThread) currentRunningJob;
thread.stopCalculation();
}
double projectDist = mode != null && mode.hasFastSpeed() ? posTolerance : posTolerance / 2;
if (returnUpdatedLocation
&& locationProjection != null
&& currentLocation.distanceTo(locationProjection) < projectDist) {
return locationProjection;
} else {
return currentLocation;
}
}
