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欠:有停止线的情况下,停止线前方50m绘制修复

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This commit is contained in:
liujing
2021-07-17 20:12:32 +08:00
parent 60d10c0b74
commit 09c764a8fa
3 changed files with 52 additions and 34 deletions
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10
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/entity/model/DrawLineInfo.java
View File

@@ -27,7 +27,7 @@ public class DrawLineInfo {
private float width;
private int direction;
private boolean hasStopLines;
public String getType() {
return type;
@@ -69,12 +69,12 @@ public class DrawLineInfo {
this.width = width;
}
public int getDirection() {
return direction;
public boolean isHasStopLines() {
return hasStopLines;
}
public void setDirection(int direction) {
this.direction = direction;
public void setHasStopLines(boolean hasStopLines) {
this.hasStopLines = hasStopLines;
}
public List<MogoLatLng> getLocations() {

4
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
View File

@@ -44,7 +44,7 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
.setGps(false);
List<Integer> colors = new ArrayList<>();
if (info.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP) {
if (info.isHasStopLines() == true) {
colors.add(0x0D3036FF);
colors.add(0xD93036FF);
colors.add(0x0D3036FF);
@@ -75,6 +75,8 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
if (mMogoPolyline != null) {
mMogoPolyline.remove();
mMogoPolyline = null;
} else {
Log.d("V2XWarningMarker", "mMogoPolyline==null");
}
}

72
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
View File

@@ -62,6 +62,7 @@ public class V2XWarningMarker implements IV2XMarker {
private MogoLatLng middleLocationInStopLine = new MogoLatLng(0, 0);
private static long showTime = 6000;
private float bearing;
private boolean hasStopLines = false;
@Override
public void drawPOI(Object entity) {
@@ -80,14 +81,12 @@ public class V2XWarningMarker implements IV2XMarker {
fillPointOnStopLine();
bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();
hasStopLines = mCloundWarningInfo.getStopLines().size() > 0;
isSelfLineClear = false;
isFirstLocation = false;
if (fillPoints.size() > 0) {
//存在停止线的情况 自车与停止线之间绘制蓝色安全线 停止线向前50m绘制红色预警线
middleLocationInStopLine = getMiddleLocationInStopLine();
//获取停止线前方50m坐标点
MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine,
50, mCloundWarningInfo.getAngle());
//停止线前方画线
WorkThreadHandler.getInstance().postDelayed(() -> {
if (carLocation.lat != 0 && carLocation.lon != 0) {
@@ -98,6 +97,9 @@ public class V2XWarningMarker implements IV2XMarker {
}
//二轮车和行人的渲染和移动
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
//获取停止线前方50m坐标点
MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine,
50, angleForCarMoveDirection());
//停止线向前方50m绘制红色预警线
drawRedWarningLineFrontOfStopLine(mCloundWarningInfo, middleLocationInStopLine,
warningLocation);
@@ -115,7 +117,6 @@ public class V2XWarningMarker implements IV2XMarker {
drawOtherObjectLine(mCloundWarningInfo);
//二轮车和行人的渲染和移动
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
//车辆静止的时候
if (carLocation.lat != 0 && carLocation.lon != 0) {
drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
} else {
@@ -132,6 +133,18 @@ public class V2XWarningMarker implements IV2XMarker {
(mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
}
/*
*
* */
public double angleForCarMoveDirection() {
MogoLatLng startLatLng = new MogoLatLng(carLocation.lat, carLocation.lon);
MogoLatLng endLatLng = new MogoLatLng(middleLocationInStopLine.lat, middleLocationInStopLine.lon);
double angle = Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat);
Log.d(TAG, "angle==" + String.valueOf(angle));
return angle;
}
/*绘制停止线前方50m的红色预警线
* startLatLng: 划线起点=停止线上的坐标点
* mogoLatLng: 停止线前方50m坐标点
@@ -139,14 +152,13 @@ public class V2XWarningMarker implements IV2XMarker {
private void drawRedWarningLineFrontOfStopLine(V2XWarningEntity info, MogoLatLng
startLatLng, MogoLatLng mogoLatLng) {
if (info != null) {
double angle = Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, mogoLatLng.lon, mogoLatLng.lat);
Log.d(TAG, "angle==drawRedWarningLineFrontOfStopLine:" + String.valueOf(angle));
IMogoPolyline polyLine = V2XServiceManager.getMoGoStopPolylineManager().getMogoStopPolyline();
MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon);
float distance = CoordinateUtils.calculateLineDistance(startLatLng.lon, startLatLng.lat,
endLatlng.lon, endLatlng.lat);
MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng, distance / 2,
mCloundWarningInfo.getAngle());
MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng, 25, angle);
if (polyLine != null) {
Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine polyLine != null");
Log.d(TAG, "drawStopLine polyLine != null");
polyLine.setPoints(Arrays.asList(startLatLng, addMiddleLoc, endLatlng));
polyLine.setTransparency(0.5f);
} else {
@@ -157,7 +169,7 @@ public class V2XWarningMarker implements IV2XMarker {
locations.add(endLatlng);
lineInfo.setLocations(locations);
lineInfo.setHeading(info.heading);
Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine width = " + info.getRoadwidth());
Log.d(TAG, "drawStopLine width = " + info.getRoadwidth());
lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
V2XServiceManager.getMoGoStopPolylineManager().drawStopPolyline(getContext(), lineInfo);
}
@@ -174,7 +186,7 @@ public class V2XWarningMarker implements IV2XMarker {
Log.d(TAG, "清除所有预警线的时间是:" + String.valueOf(showTime));
//清除识别物到碰撞点预警线
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
//清除车到碰撞点预警线
//清除车前方第一条预警线
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
//清除停止线
V2XServiceManager.getMoGoStopPolylineManager().clearLine();
@@ -227,7 +239,6 @@ public class V2XWarningMarker implements IV2XMarker {
entity.setLat(latLng.lat);
entity.setLon(latLng.lon);
entity.heading = mCloundWarningInfo.heading;
Log.d(TAG, "绘制停止线+time=" + String.valueOf(System.currentTimeMillis()));
V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
}
}
@@ -249,22 +260,29 @@ public class V2XWarningMarker implements IV2XMarker {
if (carLocation.lat == 0 || carLocation.lon == 0) {
Log.d(TAG, "获取不到车的位置");
}
MogoLatLng newLocation = Trigonometric.getNewLocation(carLocation, mCloundWarningInfo.getStopLineDistance(),
mCloundWarningInfo.getAngle());
Log.d(TAG, "计算停止线上的某个点" + String.valueOf(carLocation.lat + "," +
String.valueOf(carLocation.lon)));
MogoLatLng newLocation = new MogoLatLng(0, 0);
if (mCloundWarningInfo.getStopLines().size() > 1) {
MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
double angle = Trigonometric.getAngle(x.lon, x.lat, y.lon, y.lat);
newLocation = Trigonometric.getNewLocation(x, distance * 0.5, angle);
} else {
Log.d(TAG, "停止线返回坐标点数量不正确" + String.valueOf(mCloundWarningInfo.getStopLines().size()));
}
return newLocation;
}
/**
* 自车与停止线之间为蓝色预警
* 存在停止线时自车与停止线之间为蓝色预警
* 不存在停止线,自车与预碰撞点之间为红色预警
* lon 自车经度
* lat 自车纬度
*/
public void drawSelfCarLine(double lon, double lat, float bearing) {
if (!isSelfLineClear) {
IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
if (mCloundWarningInfo != null) {
IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
MogoLatLng startLatlng = new MogoLatLng(0, 0);
MogoLatLng endLatlng = new MogoLatLng(0, 0);
MogoLatLng addMiddleLoc = new MogoLatLng(0, 0);
@@ -274,17 +292,17 @@ public class V2XWarningMarker implements IV2XMarker {
isFirstLocation = true;
}
//绘制线的终点(在停止线上或者预碰撞点上)
endLatlng = new MogoLatLng(mCloundWarningInfo.getStopLines().size() > 0 ?
middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ?
middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
//自车位置
endLatlng = new MogoLatLng(hasStopLines ?
middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(), hasStopLines ?
middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
startLatlng = new MogoLatLng(lat, lon);
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
//扩展点为了渐变色添加
addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2,
Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));
Log.d(TAG, "angle==扩展点为了渐变色添加:" +
String.valueOf(Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat)));
if (mogoPolyline != null) {
mogoPolyline.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
mogoPolyline.setTransparency(0.5f);
@@ -297,10 +315,9 @@ public class V2XWarningMarker implements IV2XMarker {
info.setLocations(locations);
info.setHeading(bearing);
info.setWidth(mCloundWarningInfo.getRoadwidth() * 14 + 5);
info.setDirection(mCloundWarningInfo.getDirection());
info.setHasStopLines(mCloundWarningInfo.getStopLines().size() > 0);
V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
Log.d(TAG, "安全区域蓝色预警线" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
Log.d(TAG, "绘制自车与碰撞点之间的预警线+time=" + String.valueOf(System.currentTimeMillis()));
Log.d(TAG, "自车前方第一条线" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
}
Log.d(TAG, "自车为起点绘制 自车;" + startLatlng.lon + "," + startLatlng.lat +
"中间扩展点" + addMiddleLoc.lon + "," + addMiddleLoc.lat + "终点:" + endLatlng.lon + "," + endLatlng.lat);
@@ -337,7 +354,6 @@ public class V2XWarningMarker implements IV2XMarker {
lineInfo.setHeading(info.heading);
lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
V2XServiceManager.getMoGoPersonWarnPolylineManager().drawPersonWarnPolyline(getContext(), lineInfo);
Log.d(TAG, "道路宽度为" + info.getRoadwidth());
Log.d(TAG, "目标物与预碰撞点画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
}
} else {