Merge branch 'dev2_aiSdk' of http://gitlab.zhidaoauto.com/ecos/yycp-service/Launcher into dev2_aiSdk

2021-04-09 18:10:05 +08:00
parent b26d0c1c50 4fe9f6a604
commit 30fb6f8b98
9 changed files with 166 additions and 120 deletions
--- 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;
    }

 }
--- 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
@@ -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) {
+
+    }
+}
--- 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<V2XWarningEntity> 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<V2XPushMessageEntity> v2XMessageEntity =
                    TestOnLineCarUtils.getV2XScenarioPushEventData();
--- 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<MogoLatLng> 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() {