Merge remote-tracking branch 'origin/dev2_aiSdk' into dev2_aiSdk

modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XWarningEntity.java

@@ -19,20 +19,37 @@ public class V2XWarningEntity implements Serializable {
     //预测碰撞点位置
     private double collisionLat;
     private double collisionLon;
-    //来源 ADAS/云端
-    private int from;
     //朝向 角度
     private double angle;
     //方位  前 后 左 右
     private int direction;
     //速度
     private float speed;
+    //停止线经纬度
+    private double stopLineLat;
+    private double stopLineLon;
 
-    //以下为自组字段
     //预警文案
     private String tipContent;
     //tts播报
     private String tts;
+    //打点位置
+    private MarkerLocation location;
+
+    public void setLocation(MarkerLocation location) {
+        this.location = location;
+    }
+
+    public MarkerLocation getLocation() {
+        if (location == null) {
+            MarkerLocation location = new MarkerLocation();
+            location.setLat(getLat());
+            location.setLon(getLon());
+            setLocation(location);
+        }
+        return location;
+    }
+
 
     public void setTipContent(int type) {
         switch (type) {
@@ -96,10 +113,6 @@ public class V2XWarningEntity implements Serializable {
         this.collisionLon = collisionLon;
     }
 
-    public void setFrom(int from) {
-        this.from = from;
-    }
-
     public void setAngle(double angle) {
         this.angle = angle;
     }
@@ -137,9 +150,6 @@ public class V2XWarningEntity implements Serializable {
         return distance;
     }
 
-    public int getFrom() {
-        return from;
-    }
 
     public double getAngle() {
         return angle;
@@ -167,6 +177,30 @@ public class V2XWarningEntity implements Serializable {
         return tts;
     }
 
+    public void setStopLineLat(double stopLineLat) {
+        this.stopLineLat = stopLineLat;
+    }
+
+    public void setStopLineLon(double stopLineLon) {
+        this.stopLineLon = stopLineLon;
+    }
+
+    public void setTipContent(String tipContent) {
+        this.tipContent = tipContent;
+    }
+
+    public void setTts(String tts) {
+        this.tts = tts;
+    }
+
+    public double getStopLineLat() {
+        return stopLineLat;
+    }
+
+    public double getStopLineLon() {
+        return stopLineLon;
+    }
+
     @Override
     public String toString() {
         return "V2XWarningEntity{" +
@@ -176,12 +210,14 @@ public class V2XWarningEntity implements Serializable {
                 ", distance=" + distance +
                 ", collisionLat=" + collisionLat +
                 ", collisionLon=" + collisionLon +
-                ", from=" + from +
                 ", angle=" + angle +
                 ", direction=" + direction +
                 ", speed=" + speed +
+                ", stopLineLat=" + stopLineLat +
+                ", stopLineLon=" + stopLineLon +
                 ", tipContent='" + tipContent + '\'' +
                 ", tts='" + tts + '\'' +
+                ", location=" + location +
                 '}';
     }
 }

modules/mogo-module-v2x/src/main/AndroidManifest.xml

@@ -9,6 +9,14 @@
                 <category android:name="android.intent.category.DEFAULT" />
             </intent-filter>
         </receiver>
+        <!--adas数据-->
+        <receiver android:name=".receiver.AdasDataBroadcastReceiver">
+            <intent-filter>
+                <action android:name="com.v2x.adas_data_broadcast" />
+                <category android:name="android.intent.category.DEFAULT" />
+            </intent-filter>
+        </receiver>
+
         <receiver android:name=".receiver.TestPanelBroadcastReceiver">
             <intent-filter>
                 <action android:name="com.v2x.test_panel_control" />
@@ -25,13 +33,6 @@
             </intent-filter>
         </receiver>
 
-        <!--adas数据-->
-        <receiver android:name=".receiver.AdasDataBroadcastReceiver">
-            <intent-filter>
-                <action android:name="com.v2x.adas_data_broadcast" />
-                <category android:name="android.intent.category.DEFAULT" />
-            </intent-filter>
-        </receiver>
     </application>
 
 </manifest>

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/MoGoV2XServicePaths.java

@@ -37,6 +37,12 @@ public class MoGoV2XServicePaths {
     @Keep
     public static final String PATH_V2X_WARN_POLYLINE_MANAGER = "/v2xWarnPolylineManager/api";
 
+    /**
+     * V2X 云端数据处理
+     */
+    @Keep
+    public static final String PATH_V2X_WARN_CLOUND_DATA_MANAGER = "/v2xWarnCloundDataManager/api";
+
 
 
 }

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XConst.java

@@ -140,4 +140,9 @@ public class V2XConst {
      */
     public static final String V2X_OPTIMAL_SPEED_MARKER = "V2X_OPTIMAL_SPEED_MARKER";
 
+    /*
+    *V2X 车路云前方预警
+    * */
+    public static final String V2X_FRONT_WARNING_MARKER = "V2X_FRONT_WARNING_MARKER";
+
 }

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java

@@ -34,6 +34,7 @@ import com.mogo.module.common.utils.Const;
 import com.mogo.module.v2x.entity.net.V2XSeekHelpRes;
 import com.mogo.module.v2x.entity.net.V2XStrategyPushRes;
 import com.mogo.module.v2x.network.V2XRefreshCallback;
+import com.mogo.module.v2x.receiver.AdasDataBroadcastReceiver;
 import com.mogo.module.v2x.receiver.SceneBroadcastReceiver;
 import com.mogo.module.v2x.scenario.impl.V2XScenarioManager;
 import com.mogo.module.v2x.scenario.scene.livecar.V2XVoiceCallLiveBiz;
@@ -302,6 +303,9 @@ public class V2XModuleProvider implements
         V2XServiceManager.getV2XMarkerService().startAutoRefresh();
         // 锁车就是将地图视图移植中心点，因为行驶中的车和地图要相对的跟随
         V2XServiceManager.getMapUIController().recoverLockMode();
+        Log.d("liyz", "V2XModuleProvider ------> ");
+        //注册adas数据通道
+        V2XWaringManager.getInstance().registerAdasSocketMessage(mContext);
     }
 
     /**

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java

@@ -1,6 +1,7 @@
 package com.mogo.module.v2x;
 
 import android.content.Context;
+import android.util.Log;
 
 import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.map.MogoLatLng;
@@ -15,10 +16,12 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
 import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.v2x.alarm.V2XCalculateServer;
+import com.mogo.module.v2x.manager.IMoGoV2XCloundDataManager;
 import com.mogo.module.v2x.manager.IMoGoV2XMarkerManager;
 import com.mogo.module.v2x.manager.IMoGoV2XPolylineManager;
 import com.mogo.module.v2x.manager.IMoGoV2XStatusManager;
 import com.mogo.module.v2x.manager.IMoGoWarnPolylineManager;
+import com.mogo.module.v2x.manager.impl.MoGoV2XCloundDataManager;
 import com.mogo.module.v2x.network.V2XRefreshModel;
 import com.mogo.module.v2x.utils.V2XUtils;
 import com.mogo.realtime.entity.ADASRecognizedResult;
@@ -109,9 +112,7 @@ public class V2XServiceManager {
     private static IMoGoV2XPolylineManager moGoV2XPolylineManager;
     private static IMoGoV2XStatusManager moGoV2XStatusManager;
     private static IMoGoWarnPolylineManager moGoWarnPolylineManager;
-
-    List<ADASRecognizedResult> resultList = new ArrayList<>();
-
+    private static IMoGoV2XCloundDataManager moGoV2XCloundDataManager;
 
     private V2XServiceManager() {
 
@@ -165,36 +166,9 @@ public class V2XServiceManager {
             moGoV2XMarkerManager = (IMoGoV2XMarkerManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_MARKER_MANAGER).navigation(context);
             moGoV2XPolylineManager = (IMoGoV2XPolylineManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_POLYLINE_MANAGER).navigation(context);
             moGoWarnPolylineManager = (IMoGoWarnPolylineManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_WARN_POLYLINE_MANAGER).navigation(context);
+            moGoV2XCloundDataManager = (IMoGoV2XCloundDataManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_WARN_CLOUND_DATA_MANAGER).navigation(context);
 
             moGoV2XStatusManager = (IMoGoV2XStatusManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_STATUS_MANAGER).navigation(context);
-
-            List<MogoLatLng> lonLats = new ArrayList<>();
-
-            // adas 每隔一秒传递的他车或行人数据
-            mIMogoADASController.addAdasRecognizedDataCallback(resultList -> {
-                // 绘制近景识别到的车辆，行人和二轮车 TODO
-                AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList );
-
-                //清理
-                V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
-
-                // 绘制连接线 TODO 来的是列表数据
-//                V2XServiceManager.getMoGoWarnPolylineManager().drawableWarnPolyline(context, roadEventEntity);
-
-                //更新数据
-                for (ADASRecognizedResult result : resultList) {
-                    MogoLatLng latLng = new MogoLatLng(result.lat, result.lon);
-                    lonLats.add(latLng);
-                }
-
-                IMogoPolyline mMogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
-                mMogoPolyline.setPoints(lonLats);
-
-            } );
-
-           //绘制自车数据 liyz
-            
-
         }
     }
 
@@ -349,4 +323,20 @@ public class V2XServiceManager {
     public static IEventPanelProvider getEventPanelProvider() {
         return mIEventPanelProvider;
     }
+
+    public static IMogoADASController getmIMogoADASController() {
+        return mIMogoADASController;
+    }
+
+    public static void setmIMogoADASController(IMogoADASController mIMogoADASController) {
+        V2XServiceManager.mIMogoADASController = mIMogoADASController;
+    }
+
+    public static IMoGoV2XCloundDataManager getMoGoV2XCloundDataManager() {
+        return moGoV2XCloundDataManager;
+    }
+
+    public static void setMoGoV2XCloundDataManager(IMoGoV2XCloundDataManager moGoV2XCloundDataManager) {
+        V2XServiceManager.moGoV2XCloundDataManager = moGoV2XCloundDataManager;
+    }
 }

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java

@@ -0,0 +1,152 @@
+package com.mogo.module.v2x;
+
+import android.content.Context;
+import android.util.Log;
+
+import com.mogo.map.MogoLatLng;
+import com.mogo.map.overlay.IMogoPolyline;
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
+import com.mogo.module.v2x.entity.model.DrawLineInfo;
+import com.mogo.module.v2x.listener.V2XMessageListener_401011;
+import com.mogo.module.v2x.listener.V2XWarnMessageListener;
+import com.mogo.realtime.entity.ADASRecognizedResult;
+import com.mogo.utils.logger.Logger;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import static com.mogo.module.v2x.V2XServiceManager.getContext;
+
+/**
+ * desc : V2X报警事件管理，这里进行报警事件的分发处理，包括了adas数据
+ */
+public class V2XWaringManager {
+
+    List<MogoLatLng> lonLats = new ArrayList<>();
+    List<ADASRecognizedResult> resultList = new ArrayList<>();
+    private Context mContext;
+
+    private static V2XWaringManager mV2XWaringManager;
+    //TODO 需要修改
+    private V2XWarnMessageListener v2XWarnMessageListener;
+
+
+    private V2XWaringManager() {
+    }
+
+    /**
+     * 获取操作实体
+     */
+    public static synchronized V2XWaringManager getInstance() {
+        synchronized (V2XWaringManager.class) {
+            if (mV2XWaringManager == null) {
+                mV2XWaringManager = new V2XWaringManager();
+            }
+        }
+        return mV2XWaringManager;
+    }
+
+    /**
+     * 注册长链接消息处理
+     */
+    public void registerAdasSocketMessage(Context context) {
+        Logger.d("liyz", "开始注册Socket通道....");
+        mContext = context;
+
+        //根据云端，绘制自车和交点，以及行人或二轮车与交点的绘制
+        registerWarnListener();
+
+        handleAdasData();
+    }
+
+    /**
+     * 反注册消息通道，不再进行接受
+     */
+    public void unregisterAdasSocketMessage() {
+        Logger.w("liyz", "反注册Socket通道....");
+        if (v2XWarnMessageListener != null) {
+            V2XServiceManager
+                    .getMoGoSocketManager()
+                    .unregisterOnMessageListener(401011, v2XWarnMessageListener);
+        }
+    }
+
+    /**
+     * 道路事件，行人 TODO type
+     */
+    private void registerWarnListener() {
+        v2XWarnMessageListener = new V2XWarnMessageListener();
+        // 道路事件，在线车辆绘制
+        V2XServiceManager
+                .getMoGoSocketManager()
+                .registerOnMessageListener(
+                        401011,
+                        v2XWarnMessageListener );
+    }
+
+    public V2XWarnMessageListener getV2XMessageListener() {
+        return v2XWarnMessageListener;
+    }
+
+
+    /**
+     * 处理adas返回的数据
+     */
+    private void handleAdasData() {
+        Log.d("liyz", "V2XWaringManager ---- handleAdasData ---0-- ");
+        //清理
+        V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+
+        // 绘制连接线 TODO 来的是列表数据
+        DrawLineInfo info1 = new DrawLineInfo();
+        MogoLatLng startLatlng1 = new MogoLatLng(39.968919,116.407642);
+        MogoLatLng endLatlng1 = new MogoLatLng(40.010906,116.423821);
+        info1.setStartLocation(startLatlng1);
+        info1.setEndLocation(endLatlng1);
+        V2XServiceManager.getMoGoWarnPolylineManager().drawableWarnPolyline(getContext(), info1);
+
+        // adas 每隔一秒传递的他车或行人数据
+        V2XServiceManager.getmIMogoADASController().addAdasRecognizedDataCallback(resultList -> {
+            // 绘制近景识别到的车辆，行人和二轮车 TODO
+            AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList );
+            Log.d("liyz", "V2XWaringManager ---- handleAdasData ----- ");
+
+            //清理
+            V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+
+            // 绘制连接线 TODO 来的是列表数据
+            DrawLineInfo info = new DrawLineInfo();
+            MogoLatLng startLatlng = new MogoLatLng(39.969247,116.407299);
+            MogoLatLng endLatlng = new MogoLatLng(39.971089,116.407384);
+            info.setStartLocation(startLatlng);
+            info.setEndLocation(endLatlng);
+            V2XServiceManager.getMoGoWarnPolylineManager().drawableWarnPolyline(mContext, info);
+
+            //更新数据
+            for (ADASRecognizedResult result : resultList) {
+                MogoLatLng latLng = new MogoLatLng(result.lat, result.lon);
+                lonLats.add(latLng);
+            }
+            IMogoPolyline mMogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
+            mMogoPolyline.setPoints(lonLats);
+
+        } );
+
+        double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon();
+        double lat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat();
+        Log.d("liyz", "lon = " + lon + "----lat = " + lat);
+
+        //绘制自车数据 liyz
+//        DrawLineInfo info = new DrawLineInfo();
+//        MogoLatLng startLatlng = new MogoLatLng(lat,lon); //我的位置
+//        MogoLatLng endLatlng = new MogoLatLng(39.971089,); //交点位置
+//        info.setStartLocation(startLatlng);
+//        info.setEndLocation(endLatlng);
+//        V2XServiceManager.getMoGoWarnPolylineManager().drawableWarnPolyline(mContext, info);
+
+
+    }
+
+
+}

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/entity/model/CloundWarningInfo.java

@@ -0,0 +1,108 @@
+package com.mogo.module.v2x.entity.model;
+
+
+import com.mogo.map.MogoLatLng;
+
+/**
+ * @author lixiaopeng
+ * @description 云端警告下发数据（二轮车和弱势群体）
+ * @since 2021/3/30
+ */
+public class CloundWarningInfo {
+
+    /**
+     * 识别物体类型
+     */
+    public int type;
+
+    /**
+     * 提示信息
+     */
+    public String warningContent;
+
+    /**
+     * 道路唯一标识
+     */
+    public String roadId;
+
+    /**
+     * 车道唯一标识
+     */
+    public String laneId;
+
+    /**
+     * 识别物体唯一标识
+     */
+    public String uuid;
+
+    /**
+     * 红绿灯颜色
+     */
+    public String color;
+
+    /**
+     * 车ID 暂不使用
+     */
+    public String carId;
+
+    /**
+     * 识别物体的纬度
+     */
+    public double lat;
+
+    /**
+     * 识别物体的经度
+     */
+    public double lon;
+
+    /**
+     * 识别物经纬度
+     * */
+    private MogoLatLng startLocation;
+
+    /**
+     * 行人经纬度交点
+     */
+    private MogoLatLng endLocation;
+
+    /**
+     * 停止线的纬度
+     */
+    public double stopLinelat;
+
+    /**
+     * 停止线的经度
+     */
+    public double stopLinelon;
+
+    /**
+     * 车头朝向
+     */
+    public double heading;
+
+    /**
+     * 系统时间 暂时没用
+     */
+    public long systemTime;
+
+    /**
+     * 定位卫星时间 暂时没用
+     */
+    public long satelliteTime;
+
+    /**
+     * 速度 暂时没用
+     */
+    public double speed;
+
+    /**
+     * 莫顿码 暂时没用
+     */
+    public long mortonCode;
+
+    /**
+     * 停车线距离
+     */
+    public double distance;
+
+}

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/entity/model/DrawLineInfo.java

@@ -18,6 +18,8 @@ public class DrawLineInfo {
     //结束点位置
     private MogoLatLng endLocation;
 
+    private double heading;
+
     public String getType() {
         return type;
     }
@@ -41,4 +43,12 @@ public class DrawLineInfo {
     public void setEndLocation(MogoLatLng endLocation) {
         this.endLocation = endLocation;
     }
+
+    public double getHeading() {
+        return heading;
+    }
+
+    public void setHeading(double heading) {
+        this.heading = heading;
+    }
 }

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XWarnMessageListener.java

@@ -0,0 +1,31 @@
+package com.mogo.module.v2x.listener;
+
+import com.mogo.module.v2x.V2XServiceManager;
+import com.mogo.module.v2x.entity.model.CloundWarningInfo;
+import com.mogo.module.v2x.utils.V2XUtils;
+import com.mogo.service.connection.IMogoOnMessageListener;
+
+/**
+ * desc: 下发的云端预警数据
+ */
+public class V2XWarnMessageListener implements IMogoOnMessageListener<CloundWarningInfo> {
+
+    @Override
+    public Class<CloundWarningInfo> target() {
+        return CloundWarningInfo.class;
+    }
+
+    @Override
+    public void onMsgReceived(CloundWarningInfo info) {
+        //Logger.d(MODULE_NAME, "V2XMessageListener_401011==V2X地图气泡数据刷新：\n" + GsonUtil.jsonFromObject(response));
+        V2XUtils.runOnBackgroundThread(() -> {
+            // 解析不同的Marker类型，然后对应的进行绘制
+            if (info != null) {
+                // 解析存储道路事件 liyz
+                V2XServiceManager.getMoGoV2XCloundDataManager().analysisV2XCloundDataEvent(info);
+            }
+        });
+
+    }
+
+}

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/IMoGoV2XCloundDataManager.java

@@ -0,0 +1,21 @@
+package com.mogo.module.v2x.manager;
+
+import com.alibaba.android.arouter.facade.template.IProvider;
+import com.mogo.module.v2x.entity.model.CloundWarningInfo;
+
+/**
+ * desc: V2X 处理云端预警消息
+ */
+public interface IMoGoV2XCloundDataManager extends IProvider {
+
+    /**
+     * 处理下发数据
+     */
+    void analysisV2XCloundDataEvent(CloundWarningInfo cloundWarningInfo);
+
+    /**
+     * 清除 所有的 POI
+     */
+    void clearALLPOI();
+
+}

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java

@@ -0,0 +1,58 @@
+package com.mogo.module.v2x.manager.impl;
+
+import android.content.Context;
+
+import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.map.MogoLatLng;
+import com.mogo.module.v2x.MoGoV2XServicePaths;
+import com.mogo.module.v2x.V2XServiceManager;
+import com.mogo.module.v2x.entity.model.CloundWarningInfo;
+import com.mogo.module.v2x.entity.model.DrawLineInfo;
+import com.mogo.module.v2x.manager.IMoGoV2XCloundDataManager;
+
+import static com.mogo.module.v2x.V2XServiceManager.getContext;
+
+/**
+ * desc : V2X 服务端下发数据处理 点的绘制
+ */
+@Route(path = MoGoV2XServicePaths.PATH_V2X_WARN_CLOUND_DATA_MANAGER)
+public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager {
+    private static final String TAG = "MoGoV2XCloundDataManager";
+
+    @Override
+    public void init(Context context) {
+
+    }
+
+    @Override
+    public void analysisV2XCloundDataEvent(CloundWarningInfo cloundWarningInfo) {
+        //TODO
+        //清理
+        V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+
+        //绘制连接线自车与交汇点连线
+        DrawLineInfo info1 = new DrawLineInfo();
+        MogoLatLng startLatlng1 = new MogoLatLng(39.968919,116.407642);
+        MogoLatLng endLatlng1 = new MogoLatLng(40.010906,116.423821);
+        info1.setStartLocation(startLatlng1);
+        info1.setEndLocation(endLatlng1);
+        V2XServiceManager.getMoGoWarnPolylineManager().drawableWarnPolyline(getContext(), info1);
+
+        //绘制识别物与交汇点连线 TODO
+
+
+        //更新数据连线数据 他车和自车
+
+
+        //自车的移动
+
+
+        //他车的移动
+
+    }
+
+    @Override
+    public void clearALLPOI() {
+
+    }
+}

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

@@ -1,6 +1,7 @@
 package com.mogo.module.v2x.manager.impl;
 
 import android.content.Context;
+import android.util.Log;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.map.MogoLatLng;
@@ -22,7 +23,6 @@ import java.util.List;
  */
 @Route(path = MoGoV2XServicePaths.PATH_V2X_WARN_POLYLINE_MANAGER)
 public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
-    private static final String TAG = "MoGoWarnPolylineManager";
     private static IMogoPolyline mMogoPolyline;
 
 
@@ -48,16 +48,15 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
             }
 
             // 线条粗细，渐变，渐变色值
-            options.width(30).useGradient(true).colorValues(colors);
-
+            options.width(60).useGradient(true).colorValues(colors);
             // 当前车辆位置
             options.add(info.getStartLocation());
-
             // 目标车辆位置
-            options.add(info.getStartLocation());
+            options.add(info.getEndLocation());
 
             // 绘制线的对象
             mMogoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(options);
+            Log.d("liyz", "MoGoWarnPolylineManager drawableWarnPolyline -----> ");
 
         } catch (Exception e) {
             e.printStackTrace();

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/AdasDataBroadcastReceiver.java

@@ -3,8 +3,10 @@ package com.mogo.module.v2x.receiver;
 import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
+import android.util.Log;
 
 import com.mogo.module.v2x.V2XConst;
+import com.mogo.module.v2x.V2XWaringManager;
 import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.utils.logger.Logger;
 import com.mogo.utils.network.utils.GsonUtil;
@@ -17,10 +19,11 @@ public class AdasDataBroadcastReceiver extends BroadcastReceiver {
     @Override
     public void onReceive(Context context, Intent intent) {
         try {
-            ADASRecognizedResult adasResult = (ADASRecognizedResult) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
-            Logger.d("AdasDataBroadcastReceiver", "adasResult:" + GsonUtil.jsonFromObject(adasResult));
-
-//            V2XScenarioManager.getInstance().handlerMessage(adasResult);
+//            ADASRecognizedResult adasResult = (ADASRecognizedResult) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
+//            Logger.d("liyz", "AdasDataBroadcastReceiver -->" + GsonUtil.jsonFromObject(adasResult));
+            String  adasResult = (String) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
+            Log.d("liyz", "AdasDataBroadcastReceiver -----> ");
+            V2XWaringManager.getInstance().registerAdasSocketMessage(context);
 
         } catch (Exception e) {
             e.printStackTrace();

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/SceneBroadcastReceiver.java

@@ -3,6 +3,7 @@ package com.mogo.module.v2x.receiver;
 import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
+import android.util.Log;
 
 import com.mogo.module.v2x.V2XConst;
 import com.mogo.module.common.entity.V2XMessageEntity;
@@ -24,6 +25,7 @@ public class SceneBroadcastReceiver extends BroadcastReceiver {
         try {
             V2XMessageEntity v2XMessageEntity = (V2XMessageEntity) intent.getSerializableExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY);
             //Logger.d(TAG, "v2XMessageEntity:" + GsonUtil.jsonFromObject(v2XMessageEntity));
+            Log.d("liyz", "SceneBroadcastReceiver ------->");
             V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity);
         } catch (Exception e) {
             e.printStackTrace();

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java

@@ -66,6 +66,7 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
     private Button mBtnTriggerTrafficSearch;
     private Button mBtnTriggerRecommendRouteEvent;
     private ToggleButton nBtnTriggerVR;
+    private Button mBtnAdasDataWarn;
 
     private Button btnTriggerRearVIPCarTip,
             btnTriggerVehicleBrakes,
@@ -129,6 +130,7 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
         mBtnTriggerTrafficSearch = findViewById(R.id.btnTriggerTrafficSearch);
         mBtnTriggerRecommendRouteEvent = findViewById(R.id.btnTriggerRecommendRouteEvent);
         nBtnTriggerVR = findViewById(R.id.btnTriggerVR);
+        mBtnAdasDataWarn = findViewById(R.id.btnAdasDataWarn);
 
         switch (showType) {
             case 0:
@@ -301,6 +303,12 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
             LocalBroadcastManager.getInstance(getContext()).sendBroadcast(intent);
         });
 
+        mBtnAdasDataWarn.setOnClickListener(v -> {
+            Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
+            intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "23");
+            getContext().sendBroadcast(intent);
+        });
+
         mBtnTriggerTrafficSearch.setOnClickListener(v -> V2XServiceManager.getIMogoTrafficUploadProvider().verifyCurrentTrafficStatus());
 
         mBtnTriggerRecommendRouteEvent.setOnClickListener(view -> {

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java

@@ -9,6 +9,7 @@ import android.view.ViewGroup;
 import androidx.annotation.Nullable;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.map.marker.IMogoMarker;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.entity.V2XMessageEntity;
 import com.mogo.module.common.entity.V2XPoiTypeEnum;
@@ -44,6 +45,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
 
     public V2XFrontWarningScenario() {
         setV2XWindow(new V2XWarningWindow());
+        setV2XMarker(new V2XWarningMarker());
     }
 
     @Override
@@ -54,6 +56,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
                 direction = mMarkerEntity.getDirection();
                 MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(direction, MogoReceiver.ACTION_V2X_FRONT_WARNING);
                 show();
+                drawPOI();
             }
         } catch (Exception e) {
             e.printStackTrace();
@@ -78,6 +81,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
                     .getMogoTopViewManager()
                     .addView(getV2XWindow().getView(), layoutParams, this);
             getV2XWindow().show(mMarkerEntity);
+            getV2XMarker().drawPOI(mMarkerEntity);
         }
     }
 
@@ -98,7 +102,8 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
 
     @Override
     public void drawPOI() {
-
+        getV2XMarker().drawPOI(mMarkerEntity);
+        Log.d(TAG, "drawPOI");
     }
 
     @Override

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

@@ -0,0 +1,70 @@
+package com.mogo.module.v2x.scenario.scene.warning;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+
+import com.mogo.commons.AbsMogoApplication;
+import com.mogo.map.marker.IMogoMarker;
+import com.mogo.map.marker.MogoMarkerOptions;
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.drawer.marker.IMarkerView;
+import com.mogo.module.common.drawer.marker.MapMarkerAdapter;
+import com.mogo.module.common.entity.MarkerLocation;
+import com.mogo.module.common.entity.MarkerShowEntity;
+import com.mogo.module.common.entity.V2XWarningEntity;
+import com.mogo.module.v2x.R;
+import com.mogo.module.v2x.V2XConst;
+import com.mogo.module.v2x.V2XServiceManager;
+import com.mogo.module.v2x.scenario.view.IV2XMarker;
+import com.mogo.utils.WorkThreadHandler;
+
+/**
+ * @author liujing
+ * @description 描述
+ * @since: 2021/3/30
+ */
+public class V2XWarningMarker implements IV2XMarker {
+    private V2XWarningEntity mMarkerEntity;
+    private Context mContext = V2XServiceManager.getContext();
+
+    @Override
+    public void drawPOI(Object entity) {
+        try {
+            mMarkerEntity = (V2XWarningEntity) entity;
+            MarkerLocation location = new MarkerLocation();
+            location.setLat(mMarkerEntity.getLat());
+            location.setLon(mMarkerEntity.getLon());
+
+            MarkerShowEntity markerShowEntity = new MarkerShowEntity();
+            markerShowEntity.setMarkerLocation(location);
+            markerShowEntity.setMarkerType(V2XConst.V2X_FRONT_WARNING_MARKER);
+
+            if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+                V2XServiceManager.getMarkerManager().removeMarkers(V2XConst.V2X_FRONT_WARNING_MARKER);
+                WorkThreadHandler.getInstance().postDelayed(() -> {
+                    MogoMarkerOptions options = new MogoMarkerOptions()
+                            .object(markerShowEntity)
+                            .latitude(markerShowEntity.getMarkerLocation().getLat())
+                            .longitude(markerShowEntity.getMarkerLocation().getLon());
+                    IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(mContext, markerShowEntity, options);
+                    Bitmap bitmap = BitmapFactory.decodeResource(AbsMogoApplication.getApp().getResources(), R.drawable.v2x_road_front_p_warning);
+                    options.icon(bitmap);
+                    IMogoMarker marker = V2XServiceManager.getMarkerManager().addMarker(markerShowEntity.getMarkerType(), options);
+                    iMarkerView.setMarker(marker);
+                    marker.setToTop();
+                }, 1000);
+            } else {
+
+            }
+        } catch (Exception e) {
+
+        }
+
+    }
+
+    @Override
+    public void clearPOI() {
+
+    }
+}

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java

@@ -1,12 +1,15 @@
 package com.mogo.module.v2x.utils;
 
 import com.mogo.module.common.entity.MarkerExploreWay;
+import com.mogo.module.common.entity.MarkerLocation;
 import com.mogo.module.common.entity.MarkerResponse;
+import com.mogo.module.common.entity.MarkerShowEntity;
 import com.mogo.module.common.entity.V2XMessageEntity;
 import com.mogo.module.common.entity.V2XPushMessageEntity;
 import com.mogo.module.common.entity.V2XRoadEventEntity;
 import com.mogo.module.common.entity.V2XWarningEntity;
 import com.mogo.module.v2x.R;
+import com.mogo.module.v2x.V2XConst;
 import com.mogo.module.v2x.entity.net.V2XSpecialCarRes;
 import com.mogo.utils.network.utils.GsonUtil;
 
@@ -172,7 +175,6 @@ public class TestOnLineCarUtils {
 
             // 加载数据源
             V2XWarningEntity warningEntity = GsonUtil.objectFromJson(baos.toString(), V2XWarningEntity.class);
-
             V2XMessageEntity<V2XWarningEntity> v2xMessageEntity = new V2XMessageEntity<>();
             // 控制类型
             v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_TOP);

modules/mogo-module-v2x/src/main/res/layout/window_test_console.xml

@@ -461,7 +461,22 @@
                 app:layout_constraintBottom_toBottomOf="parent"
                 app:layout_constraintStart_toStartOf="parent" />
 
+            <Button
+                android:id="@+id/btnAdasDataWarn"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginEnd="@dimen/dp_10"
+                android:layout_marginBottom="@dimen/dp_10"
+                android:background="#8BC34A"
+                android:padding="@dimen/dp_10"
+                android:text="adas预警数据发送"
+                android:textColor="#FFFFFF"
+                android:textSize="@dimen/dp_22"
+                app:layout_constraintBottom_toBottomOf="parent"
+                app:layout_constraintStart_toStartOf="parent" />
+
         </com.google.android.flexbox.FlexboxLayout>
 
+
     </LinearLayout>
 </RelativeLayout>

modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json

@@ -1,8 +1,8 @@
 {
   "type":0,
   "targetType": "1",
-  "lat":39.9760799115428,
-  "lon":116.411360351446,
+  "lat":39.977121,
+  "lon":116.417537,
   "distance": 2.22,
   "collisionLat": 39.9760799115429,
   "collisionLon": 116.411360351446,