diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle index 9f081298c9..fa9c7cf8f4 100644 --- a/libraries/map-custom/build.gradle +++ b/libraries/map-custom/build.gradle @@ -67,7 +67,7 @@ dependencies { implementation project(':foudations:mogo-commons') } - implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.5.4' + implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.5.5' // implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4' } 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 b8e60f4e8a..e9b15b4f78 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 @@ -1,20 +1,21 @@ package com.mogo.module.v2x.manager.impl; import android.content.Context; -import android.content.Intent; import android.location.Location; import android.util.Log; -import androidx.localbroadcastmanager.content.LocalBroadcastManager; - import com.alibaba.android.arouter.facade.annotation.Route; import com.mogo.cloud.commons.utils.CoordinateUtils; import com.mogo.map.MogoLatLng; +import com.mogo.map.marker.IMogoMarker; +import com.mogo.map.marker.MogoMarkerOptions; import com.mogo.map.navi.IMogoCarLocationChangedListener2; import com.mogo.map.overlay.IMogoPolyline; import com.mogo.module.common.MogoApisHandler; +import com.mogo.module.common.drawer.MarkerDrawer; import com.mogo.module.common.drawer.V2XWarnDataDrawer; -import com.mogo.module.common.entity.V2XMessageEntity; +import com.mogo.module.common.drawer.marker.EmptyMarkerView; +import com.mogo.module.common.drawer.marker.SimpleWindow3DAdapter; import com.mogo.module.common.entity.V2XWarningEntity; import com.mogo.module.service.MarkerServiceHandler; import com.mogo.module.service.receiver.MogoReceiver; @@ -23,15 +24,17 @@ import com.mogo.module.v2x.V2XConst; import com.mogo.module.v2x.V2XServiceManager; import com.mogo.module.v2x.entity.model.DrawLineInfo; import com.mogo.module.v2x.manager.IMoGoV2XCloundDataManager; +import com.mogo.module.v2x.marker.V2XFrontTargetMarkerView; import com.mogo.module.v2x.utils.LocationUtils; import com.mogo.utils.UiThreadHandler; +import com.mogo.utils.ViewUtils; import com.mogo.utils.WorkThreadHandler; - import java.util.ArrayList; import java.util.Arrays; import java.util.List; +import static com.mogo.module.v2x.V2XConst.V2X_FRONT_WARNING_MARKER; import static com.mogo.module.v2x.V2XServiceManager.getContext; /** @@ -73,8 +76,8 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog //绘制识别物与交汇点连线，并且更新连线数据 drawStopLine(cloundWarningInfo, newLocation); //添加停止线marker - handleStopLine(); - }, 0); + drawStopLineWith2Resource(); + }, 200); UiThreadHandler.postDelayed(() -> { V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); @@ -90,7 +93,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog drawOtherObjectLine(cloundWarningInfo); //二轮车和行人的渲染和移动 V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo); - }, 0); + }, 200); //延迟3秒清理线 UiThreadHandler.postDelayed(() -> { @@ -118,6 +121,32 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog } } + /* + * 2D资源绘制停止线 + * */ + private void drawStopLineWith2Resource() { + mCloundWarningInfo.setCarLocation(new MogoLatLng(39.976866,116.417622));//测试数据 + MogoLatLng carlo = mCloundWarningInfo.getCarLocation(); + if (carlo == null){ + double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(); + double lat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(); + carlo = new MogoLatLng(lat, lon); + } + MogoLatLng drawStopLineLon = LocationUtils.getNewLocation(carlo, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle()); + + MogoMarkerOptions optionsRipple = new MogoMarkerOptions() + .latitude(drawStopLineLon.getLat()) + .longitude(drawStopLineLon.getLon()) + .anchor(0.5f, 0.5f) + .zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH); + + optionsRipple + .icon(ViewUtils.fromView(new EmptyMarkerView(V2XServiceManager.getContext()))); + IMogoMarker stopLine = V2XServiceManager.getMarkerManager().addMarker(V2X_FRONT_WARNING_MARKER, optionsRipple); + stopLine.setInfoWindowAdapter(new SimpleWindow3DAdapter(new V2XFrontTargetMarkerView(V2XServiceManager.getContext()))); + stopLine.showInfoWindow(); + } + /** * 绘制停止线前方线 TODO 需要实时给行人当前位置 */ @@ -193,8 +222,20 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog */ @Override public void onCarLocationChanged2(Location latLng) { -// Log.d(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude() + "---isSelfLineClear = " + isSelfLineClear); - //当行人经纬度交点 经纬度不为空，开始画线，否则清理 + Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude() + "---isSelfLineClear = " + isSelfLineClear); + //当行人经纬度交点 开始画线，否则清理 + drawSlefCarLine(latLng); + } + + @Override + public void onCarLocationChanged(MogoLatLng latLng) { + + } + + /** + * 绘制自车连线 + */ + private void drawSlefCarLine(Location latLng) { if (!isSelfLineClear) { IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline(); if (mCloundWarningInfo != null) { @@ -223,12 +264,6 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog } } - @Override - public void onCarLocationChanged(MogoLatLng latLng) { - - } - - /** * 补点后的停止线经纬度合集 */ @@ -261,7 +296,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog private MogoLatLng getMogoLat(MogoLatLng latlng) { MogoLatLng newLocation = LocationUtils.getNewLocation(latlng, mCloundWarningInfo.getDistance(), mCloundWarningInfo.getDirection()); - return newLocation; + return newLocation; } } diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XFrontTargetMarkerView.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XFrontTargetMarkerView.java new file mode 100644 index 0000000000..89cb6b1283 --- /dev/null +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XFrontTargetMarkerView.java @@ -0,0 +1,44 @@ +package com.mogo.module.v2x.marker; + +import android.content.Context; +import android.util.AttributeSet; +import android.view.LayoutInflater; +import android.widget.ImageView; + +import androidx.annotation.Nullable; + +import com.mogo.module.common.drawer.marker.MapMarkerBaseView; +import com.mogo.module.common.entity.MarkerShowEntity; +import com.mogo.module.v2x.R; + +/** + * @author liujing + * @description 前方预警目标物2D资源实现,目前只有停止线,可以按需添加其他类型 + * @since: 2021/4/9 + */ +public class V2XFrontTargetMarkerView extends MapMarkerBaseView { + private String TAG = "V2XFrontTargetMarkerView"; + + + public V2XFrontTargetMarkerView(Context context) { + super(context); + } + + public V2XFrontTargetMarkerView(Context context, @Nullable AttributeSet attrs) { + super(context, attrs); + } + + public V2XFrontTargetMarkerView(Context context, @Nullable AttributeSet attrs, int defStyleAttr) { + super(context, attrs, defStyleAttr); + } + + @Override + protected void initView(Context context) { + LayoutInflater.from( context ).inflate(R.layout.v2x_front_target_info_view, this ); + } + + @Override + public void updateView(MarkerShowEntity markerShowEntity) { + + } +} diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java index be6b1185a1..83710ede41 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java @@ -53,6 +53,7 @@ public class V2XTestConsoleWindow extends ConstraintLayout { private Button mBtnTriggerRoadEvent; private Button mBtnClearRoadEvent; private Button mBtnTriggerPushEvent; + private Button mBtnTriggerWarningEvent; private Button mBtnTriggerPushLiveCarEvent; private Button mBtnTriggerAnimationEvent; private Button mBtnbtnFrontCarLiveEvent; @@ -67,6 +68,7 @@ public class V2XTestConsoleWindow extends ConstraintLayout { private ToggleButton nBtnTriggerVR; private Button mBtnAdasDataWarn; + private Button btnTriggerRearVIPCarTip, btnTriggerVehicleBrakes, btnTriggerRearDangerousVehicles, @@ -114,6 +116,7 @@ public class V2XTestConsoleWindow extends ConstraintLayout { flTestPanelShunYi = findViewById(R.id.flTestPanelShunYi); flTestPanelVR = findViewById(R.id.flTestPanelVR); mBtnTriggerOpen = findViewById(R.id.btnTriggerOpen); + mBtnTriggerWarningEvent = findViewById(R.id.btnTriggerWarningEvent); mBtnClearRoadEvent = findViewById(R.id.btnClearRoadEvent); mBtnTriggerRoadEvent = findViewById(R.id.btnTriggerRoadEvent); mBtnTriggerPushEvent = findViewById(R.id.btnTriggerPushEvent); @@ -220,6 +223,16 @@ public class V2XTestConsoleWindow extends ConstraintLayout { }); + //车路云—场景预警-V1.0 碰撞预警 + mBtnTriggerWarningEvent.setOnClickListener(v -> { + V2XMessageEntity v2XMessageEntity = + TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData(); + + Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION); + intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity); + LocalBroadcastManager.getInstance(getContext()).sendBroadcast(intent); + }); + mBtnTriggerPushEvent.setOnClickListener(v -> { V2XMessageEntity v2XMessageEntity = TestOnLineCarUtils.getV2XScenarioPushEventData(); diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java index d7566943a1..2b44bef806 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java @@ -8,21 +8,31 @@ import com.mogo.map.MogoLatLng; import com.mogo.map.marker.IMogoMarker; import com.mogo.map.marker.MogoMarkerOptions; import com.mogo.module.common.MogoApisHandler; +import com.mogo.module.common.drawer.MarkerDrawer; +import com.mogo.module.common.drawer.marker.EmptyMarkerView; import com.mogo.module.common.drawer.marker.IMarkerView; import com.mogo.module.common.drawer.marker.MapMarkerAdapter; +import com.mogo.module.common.drawer.marker.SimpleWindow3DAdapter; 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.entity.model.DrawLineInfo; +import com.mogo.module.v2x.marker.OptimalSpeedMarkerView; +import com.mogo.module.v2x.marker.V2XFrontTargetMarkerView; import com.mogo.module.v2x.scenario.view.IV2XMarker; import com.mogo.module.v2x.utils.LocationUtils; +import com.mogo.utils.ViewUtils; import com.mogo.utils.WorkThreadHandler; import java.util.ArrayList; import java.util.List; +import static com.mogo.module.v2x.V2XConst.V2X_FRONT_WARNING_MARKER; +import static com.mogo.module.v2x.V2XConst.V2X_OPTIMAL_SPEED_MARKER; + /** * @author liujing * @description 前方预警marker打点 绘制安全线和预警线 @@ -33,7 +43,7 @@ public class V2XWarningMarker implements IV2XMarker { private V2XWarningEntity mMarkerEntity; private MarkerShowEntity markerShowEntity = new MarkerShowEntity(); private Context mContext = V2XServiceManager.getContext(); - private List fillPoints = new ArrayList();//停止线经纬度合集 + private IMogoMarker optimalMarker = null; @Override public void drawPOI(Object entity) { @@ -45,16 +55,19 @@ public class V2XWarningMarker implements IV2XMarker { markerShowEntity.setMarkerLocation(location); + MogoMarkerOptions optionsRipple = new MogoMarkerOptions() + .latitude(mMarkerEntity.getLat()) + .longitude(mMarkerEntity.getLon()) + .anchor(0.5f, 0.5f) + .zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH); + if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) { - pointsBetween(); - //绘制停止线 -// drawStopLines(fillPoints); - drawSafeLine(); - WorkThreadHandler.getInstance().postDelayed(() -> { - V2XServiceManager.getMarkerManager().removeMarkers(V2XConst.V2X_FRONT_STOP_LINE); - V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); - }, 6_000); } + optionsRipple + .icon(ViewUtils.fromView(new EmptyMarkerView(V2XServiceManager.getContext()))); + optimalMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_FRONT_WARNING_MARKER, optionsRipple); + optimalMarker.setInfoWindowAdapter(new SimpleWindow3DAdapter(new V2XFrontTargetMarkerView(V2XServiceManager.getContext()))); + optimalMarker.showInfoWindow(); } catch (Exception e) { @@ -62,61 +75,6 @@ public class V2XWarningMarker implements IV2XMarker { } - //绘制安全距离 - private void drawSafeLine() { - clearPOI(); - WorkThreadHandler.getInstance().postDelayed(() -> { - //自车位置 - MogoLatLng car = V2XServiceManager.getNavi().getCarLocation(); - if (car != null) { - //根据到停止线的距离和方向角获取经纬度 - MogoLatLng - stopLineLo = LocationUtils.getNewLocation(car, mMarkerEntity.getStopLineDistance(), mMarkerEntity.getAngle()); -// if (mMarkerEntity.getCollisionLat() > 0 && mMarkerEntity.getCollisionLon() > 0) { -// drawLine(car, stopLineLo); -// } - } else { - Log.d(TAG, "自车位置没有拿到"); - } - }, 0); - } - - //补点后的停止线经纬度合集 - public void pointsBetween() { - try { - fillPoints.clear(); - List stopLines = mMarkerEntity.getStopLines(); - if (stopLines.size() > 1) { - MogoLatLng x = mMarkerEntity.getStopLines().get(0); - MogoLatLng y = mMarkerEntity.getStopLines().get(1); - //两点间的距离 - float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat); - float average = distance / 3; - //两点间的角度 - double angle = LocationUtils.getAngle(x.lon, x.lat, y.lon, y.lat); - //根据距离和角度获取下个点的经纬度 - fillPoints.add(x); - for (int i = 1; i < 3; i++) { - MogoLatLng newLocation = LocationUtils.getNewLocation(x, average * i, angle); - fillPoints.add(newLocation); - } - fillPoints.add(y); - } - } catch (Exception e) { - e.printStackTrace(); - } - - } - - //绘制停止线-通过打点的方式实现 - private void drawStopLines(List points) { - clearPOI(); - V2XServiceManager.getMarkerManager().removeMarkers(V2XConst.V2X_FRONT_STOP_LINE); - for (int i = 0; i < points.size(); i++) { - MogoLatLng latLng = (MogoLatLng) points.get(i); - drawMarkerWithLocation(latLng, V2XConst.V2X_FRONT_STOP_LINE); - } - } private void drawMarkerWithLocation(MogoLatLng latLng, String tag) { MogoMarkerOptions options = new MogoMarkerOptions() @@ -132,47 +90,10 @@ public class V2XWarningMarker implements IV2XMarker { marker.setToTop(); } - //绘制并返回marker - public IMogoMarker drawMarkerAndReturn(MarkerShowEntity markerShowEntity) { - MogoMarkerOptions options = new MogoMarkerOptions() - .object(markerShowEntity) - .latitude(markerShowEntity.getMarkerLocation().getLat()) - .longitude(markerShowEntity.getMarkerLocation().getLon()); - IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(mContext, markerShowEntity, options); - options.icon3DRes(com.mogo.module.service.R.raw.people); - options.anchorColor("#FF4040"); - IMogoMarker marker = V2XServiceManager.getMarkerManager().addMarker(V2XConst.V2X_FRONT_WARNING_MARKER, options); - iMarkerView.setMarker(marker); - marker.setToTop(); - return marker; - } - - //绘制线 - public void drawLine(MogoLatLng s, MogoLatLng e) { - DrawLineInfo drawLineInfo = new DrawLineInfo(); - drawLineInfo.setStartLocation(s); - drawLineInfo.setEndLocation(e); - drawLineInfo.setWidth(60); - V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(mContext, drawLineInfo); - } - - //平移 - public void smooth(IMogoMarker marker) { - List latLngs = new ArrayList<>(); - MogoLatLng sLocation = new MogoLatLng(mMarkerEntity.getLat(), mMarkerEntity.getLon()); - MogoLatLng endLocation = new MogoLatLng(mMarkerEntity.getCollisionLat(), mMarkerEntity.getCollisionLon()); - latLngs.add(sLocation); - latLngs.add(endLocation); - marker.startSmoothInMs(latLngs, 3000); - - WorkThreadHandler.getInstance().postDelayed(() -> { - clearLine(); - }, 3_000); - } @Override public void clearPOI() { - V2XServiceManager.getMarkerManager().removeMarkers(V2XConst.V2X_FRONT_WARNING_MARKER); + V2XServiceManager.getMarkerManager().removeMarkers(V2X_FRONT_WARNING_MARKER); } public void clearLine() { diff --git a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_stop_line.png b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_stop_line.png new file mode 100644 index 0000000000..2bda783ed5 Binary files /dev/null and b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_stop_line.png differ diff --git a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_warning_marker_target.png b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_warning_marker_target.png new file mode 100644 index 0000000000..be6da047d0 Binary files /dev/null and b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_warning_marker_target.png differ diff --git a/modules/mogo-module-v2x/src/main/res/layout/v2x_front_target_info_view.xml b/modules/mogo-module-v2x/src/main/res/layout/v2x_front_target_info_view.xml new file mode 100644 index 0000000000..bfae7c37fb --- /dev/null +++ b/modules/mogo-module-v2x/src/main/res/layout/v2x_front_target_info_view.xml @@ -0,0 +1,20 @@ + + + + + + + + \ No newline at end of file diff --git a/modules/mogo-module-v2x/src/main/res/layout/window_test_console.xml b/modules/mogo-module-v2x/src/main/res/layout/window_test_console.xml index 7c1583a11d..5c509e9eeb 100644 --- a/modules/mogo-module-v2x/src/main/res/layout/window_test_console.xml +++ b/modules/mogo-module-v2x/src/main/res/layout/window_test_console.xml @@ -237,6 +237,19 @@ android:textColor="#FFFFFF" android:textSize="@dimen/dp_22" android:textStyle="bold" /> +