diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index 4ff10f68a5..83405b8de1 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -91,7 +91,6 @@
-
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/AdasRecognizedType.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/AdasRecognizedType.java
index 30182b7620..7758ceb9eb 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/AdasRecognizedType.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/AdasRecognizedType.java
@@ -23,7 +23,11 @@ enum AdasRecognizedType {
//bus
classIdTrafficBus( "traffic_bus", 6 ),
//truck
- classIdTrafficTruck( "traffic_truck", 8 );
+ classIdTrafficTruck( "traffic_truck", 8 ),
+ //stopLine
+ classIdStopLine("warning_stop_line",9),
+ //预警箭头
+ classIdWarningArrows("warning_arrows",10);
AdasRecognizedType( int code ) {
this.code = code;
@@ -45,8 +49,10 @@ enum AdasRecognizedType {
classIdMoto,
classIdTrafficSign,
classIdTrafficBus,
- null,
classIdTrafficTruck,
+ classIdStopLine,
+ classIdWarningArrows,
+ null,
};
public String getRes() {
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
index b0cc4aba36..630d9d5d2d 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
@@ -125,17 +125,13 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
return marker;
}
- public void drawerMarkerWithLocation(MarkerShowEntity markerShowEntity, MogoLatLng location) {
+ public void drawerArrowsMarkerWithLocation(MogoLatLng location, String markerType, int type) {
MogoMarkerOptions options = new MogoMarkerOptions()
- .object(markerShowEntity)
.latitude(location.getLat())
.longitude(location.getLon());
- IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(mContext, markerShowEntity, options);
- options.icon3DRes(getModelRes(2)); //TODO
-
+ options.icon3DRes(getModelRes(type)); //TODO
options.anchorColor("#FB3C3CFF"); //红色#FF3036 蓝色：#256BFF
- IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), options);
- iMarkerView.setMarker(marker);
+ IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerType, options);
marker.setToTop();
}
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
index f65be53a7c..02939d2583 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
@@ -10,11 +10,13 @@ import com.mogo.map.MogoLatLng;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.constants.AdasRecognizedType;
import com.mogo.module.common.drawer.V2XWarnDataDrawer;
import com.mogo.module.common.entity.MarkerShowEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.module.common.utils.Trigonometric;
import com.mogo.module.service.MarkerServiceHandler;
+import com.mogo.module.service.ServiceConst;
import com.mogo.module.service.receiver.MogoReceiver;
import com.mogo.module.v2x.MoGoV2XServicePaths;
import com.mogo.module.v2x.V2XConst;
@@ -35,6 +37,7 @@ import static com.mogo.module.v2x.V2XServiceManager.getContext;
*/
@Route(path = MoGoV2XServicePaths.PATH_V2X_WARN_CLOUND_DATA_MANAGER)
public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMogoCarLocationChangedListener2 {
+ private static String WARNING_ARROWS = "WARNING_ARROWS";
private V2XWarningEntity mCloundWarningInfo;
private static String TAG = "MoGoV2XCloundDataManager";
private boolean isSelfLineClear;
@@ -44,6 +47,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(),
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon()
);
+ private MogoLatLng middleLocationInStopLine;
private static long showTime = 0;
@@ -67,14 +71,14 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
isFirstLocation = false;
if (cloundWarningInfo.getDirection() == 1) { //前方
- MogoLatLng startLatLng = getMiddleLocationInStopLine();
- MogoLatLng warningLocation = Trigonometric.getNewLocation(startLatLng, 80, cloundWarningInfo.getAngle());
+ middleLocationInStopLine = getMiddleLocationInStopLine();
+ MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine, 30, cloundWarningInfo.getAngle());
//停止线前方画线
WorkThreadHandler.getInstance().postDelayed(() -> {
//二轮车和行人的渲染和移动
V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
//绘制识别物与交汇点连线，并且更新连线数据
- drawStopLine(cloundWarningInfo, startLatLng, warningLocation);
+ drawStopLine(cloundWarningInfo, middleLocationInStopLine, warningLocation);
//添加停止线marker
handleStopLine();
}, 500);
@@ -160,10 +164,10 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
private void drawOtherObjectLine(V2XWarningEntity info) {
if (info != null) {
IMogoPolyline polyLine = V2XServiceManager.getMoGoPersonWarnPolylineManager().getMogoPersonWarnPolyline();
- MogoLatLng startLatlng = new MogoLatLng(info.getLat(), info.getLon());
- MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon());
- float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
- MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
+ MogoLatLng startLatlng = new MogoLatLng(info.getLat(), info.getLon());//识别物坐标
+ MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon());//预碰撞点坐标
+ float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);//识别物到碰撞点之间的距离
+ MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());//补点
if (polyLine != null) {
Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
@@ -180,6 +184,8 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
Log.d(V2XConst.LOG_NAME_WARN, "drawOtherObjectLine width = " + info.getRoadwidth());
lineInfo.setWidth(info.getRoadwidth() * 10 + 5);
V2XServiceManager.getMoGoPersonWarnPolylineManager().drawPersonWarnPolyline(getContext(), lineInfo);
+ //识别物到预碰撞点之间的箭头
+ addArrows(startLatlng, endLatlng);
}
} else {
Log.e(V2XConst.LOG_NAME_WARN, "info == null");
@@ -189,17 +195,22 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
//侧面目标物与碰撞点之间添加多个小箭头
private void addArrows(MogoLatLng startLatLng, MogoLatLng endLatLng) {
- MarkerShowEntity markerShowEntity = new MarkerShowEntity();
float distance = CoordinateUtils.calculateLineDistance(
startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat);
+ Log.d(TAG, "添加小箭头--目标物与预碰撞点之间的距离是" + String.valueOf(distance));
if (distance > 5) {
int count = (int) (distance / 5);
- for (int i = 0; i < count; i++) {
+ for (int i = 0; i < count - 1; i++) {
MogoLatLng newLo = Trigonometric.getNewLocation(
- startLatLng, 5 * i, mCloundWarningInfo.getAngle());
- V2XWarnDataDrawer.getInstance().drawerMarkerWithLocation(markerShowEntity, newLo);
+ startLatLng, 5 * (i + 1), 120);
+ V2XWarnDataDrawer.getInstance().drawerArrowsMarkerWithLocation(newLo, WARNING_ARROWS, 10);
}
}
+ //延迟3秒清理线
+ UiThreadHandler.postDelayed(() -> {
+ V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
+ }, showTime);
+
}
@Override
@@ -240,6 +251,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
MogoLatLng endLatlng = null;
MogoLatLng addMiddleLoc = null;
if (!isFirstLocation) {
+ //自车位置
startLatlng = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
carLocation = getMogoLat(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? carLocation.lat : mCloundWarningInfo.getCollisionLat(),
diff --git a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json
index dd781a966a..0333d06e79 100644
--- a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json
+++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json
@@ -17,7 +17,7 @@
],
"from": 1,
"angle": 0,
- "direction": 1,
+ "direction": 2,
"speed": 11.108121,
"targetColor": "#FF4040",
"stopLineDistance": 60,