Merge branch 'jj' into dev2_aiSdk

.idea/gradle.xml

@@ -91,7 +91,6 @@
           </set>
         </option>
         <option name="resolveModulePerSourceSet" value="false" />
-        <option name="useQualifiedModuleNames" value="true" />
       </GradleProjectSettings>
     </option>
   </component>

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() {

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(type)); //TODO
-        options.icon3DRes(getModelRes(2)); //TODO
-
         options.anchorColor("#FB3C3CFF"); //红色#FF3036       蓝色：#256BFF
-        IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), options);
+        IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerType, options);
-        iMarkerView.setMarker(marker);
         marker.setToTop();
     }
 

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();
+                middleLocationInStopLine = getMiddleLocationInStopLine();
-                MogoLatLng warningLocation = Trigonometric.getNewLocation(startLatLng, 80, cloundWarningInfo.getAngle());
+                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 startLatlng = new MogoLatLng(info.getLat(), info.getLon());//识别物坐标
-            MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon());
+            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);
+            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());
+            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());
+                        startLatLng, 5 * (i + 1), 120);
-                V2XWarnDataDrawer.getInstance().drawerMarkerWithLocation(markerShowEntity, newLo);
+                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(),

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,