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merge origin dev2_aiSdk

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This commit is contained in:
zhongchao
2021-04-23 15:59:06 +08:00
parent 43c85593fb 3db946ebff
commit 32cdf27dbf
76 changed files with 489 additions and 845 deletions
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10
modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/AdasRecognizedType.java
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@@ -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;
@@ -38,7 +42,7 @@ enum AdasRecognizedType {
}
public static AdasRecognizedType[] VAL = {
classIdBackground,
classIdBackground,//0
classIdPerson,
classIdBicycle,
classIdCar,
@@ -47,6 +51,8 @@ enum AdasRecognizedType {
classIdTrafficBus,
null,
classIdTrafficTruck,
classIdStopLine,
classIdWarningArrows,
};
public String getRes() {

2
modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/DataTypes.java
View File

@@ -19,7 +19,7 @@ class DataTypes {
public static final String TYPE_MARKER_CLOUD_DATA = "TYPE_MARKER_CLOUD_DATA";
/**
* 云端下发警告数据
* 云端下发识别目标物警告数据
*/
public static final String TYPE_MARKER_CLOUD_WARN_DATA = "TYPE_MARKER_CLOUD_WARN_DATA";

4
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -226,6 +226,10 @@ class BaseDrawer {
} else if (recognizedType == AdasRecognizedType.classIdBicycle
|| recognizedType == AdasRecognizedType.classIdMoto) {
return R.raw.motorbike;
} else if (recognizedType == AdasRecognizedType.classIdStopLine) {
return R.raw.stopline;
} else if (recognizedType == AdasRecognizedType.classIdWarningArrows) {
return R.raw.arraw;
}
return R.raw.people;
}

38
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
View File

@@ -1,6 +1,7 @@
package com.mogo.module.common.drawer;
import android.util.Log;
import android.widget.LinearLayout;
import com.mogo.map.MogoLatLng;
import com.mogo.map.marker.IMogoMarker;
@@ -21,6 +22,9 @@ import com.mogo.utils.UiThreadHandler;
import com.mogo.utils.ViewUtils;
import com.mogo.utils.logger.Logger;
import java.util.ArrayList;
import java.util.List;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;
@@ -87,8 +91,8 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
MogoLatLng mogoLatLng = new MogoLatLng(data.getCollisionLat(), data.getCollisionLon());
//2D资源图片位置调整
MogoLatLng stopLineNew = Trigonometric.getNewLocation(data.getStopLines().get(1), 8, 180);
MogoLatLng newLocation = Trigonometric.getNewLocation(mogoLatLng, 8, 180);
MogoLatLng stopLineNew = Trigonometric.getNewLocation(data.getStopLines().get(1), 5, 180);
MogoLatLng newLocation = Trigonometric.getNewLocation(mogoLatLng, 5, 180);
IMogoMarker marker = drawMarker(markerShowEntity);
Log.d("liyz", "renderWarnData marker != null direction = " + data.getDirection());
@@ -115,7 +119,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
.latitude(markerShowEntity.getMarkerLocation().getLat())
.longitude(markerShowEntity.getMarkerLocation().getLon());
IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(mContext, markerShowEntity, options);
options.icon3DRes(getModelRes(2)); //TODO
options.icon3DRes(getModelRes(1)); //TODO
options.anchorColor("#FB3C3CFF"); //红色#FF3036 蓝色：#256BFF
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), options);
@@ -125,18 +129,17 @@ 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, int rotate) {
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.anchorColor("#FB3C3CFF"); //红色#FF3036 蓝色：#256BFF
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), options);
iMarkerView.setMarker(marker);
marker.setToTop();
.longitude(location.getLon())
.set3DMode(true)
.controlAngle(true)
.icon3DRes(getModelRes(type))
.anchorColor("#FB3C3CFF")
.flat(true);
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerType, options);
marker.setRotateAngle(rotate);
}
/*
@@ -144,7 +147,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
* */
private IMogoMarker drawMarkerWith2Resource(MarkerShowEntity markerShowEntity) {
MogoLatLng mogoLatLng = new MogoLatLng(markerShowEntity.getMarkerLocation().getLat(), markerShowEntity.getMarkerLocation().getLon());
MogoLatLng newLocation = Trigonometric.getNewLocation(mogoLatLng, 8, 180);
MogoLatLng newLocation = Trigonometric.getNewLocation(mogoLatLng, 5, 180);
MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
.latitude(newLocation.getLat())
.longitude(newLocation.getLon())
@@ -182,15 +185,18 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
}
/**
* 停止线绘制
*/
public IMogoMarker drawStopLineMarker(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(getModelRes(1)); //TODO
options.icon3DRes(getModelRes(9));
options.anchorColor("#FB3C3CFF"); //红色#FF3036 蓝色：#256BFF
options.anchorColor("#FB3C3CFF");
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), options);
iMarkerView.setMarker(marker);
marker.setToTop();

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modules/mogo-module-common/src/main/res/raw/arraw.n3d Normal file
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modules/mogo-module-common/src/main/res/raw/motorbike.n3d
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modules/mogo-module-common/src/main/res/raw/stopline.n3d Normal file
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2
modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_bottom.xml
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@@ -3,6 +3,6 @@
<gradient
android:angle="90"
android:endColor="#00F03232"
android:startColor="#A5F03232"
android:startColor="#3FF03232"
android:type="linear"></gradient>
</shape>

2
modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_left.xml
View File

@@ -3,6 +3,6 @@
<gradient
android:angle="0"
android:endColor="#00F03232"
android:startColor="#A5F03232"
android:startColor="#3FF03232"
android:type="linear"></gradient>
</shape>

2
modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_right.xml
View File

@@ -3,6 +3,6 @@
<gradient
android:angle="180"
android:endColor="#00F03232"
android:startColor="#A5F03232"
android:startColor="#3FF03232"
android:type="linear"></gradient>
</shape>

2
modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_top.xml
View File

@@ -3,6 +3,6 @@
<gradient
android:angle="270"
android:endColor="#00FF0606"
android:startColor="#8CFF0606"
android:startColor="#3FFF0606"
android:type="linear"></gradient>
</shape>

1
modules/mogo-module-service/src/main/assets/adas_bike.txt
View File

@@ -1 +0,0 @@
{"systemTime":1615529718585,"satelliteTime":1615529718585,"lon":116.411411222501,"lat":39.9753341630918,"alt":34.4018669128417,"heading":0.342695406938048,"speed":0.003303937,"type":3,"uuid":"2_1"}

1
modules/mogo-module-service/src/main/assets/adas_person.txt
View File

@@ -1 +0,0 @@
{"systemTime":1615529718585,"satelliteTime":1615529718585,"lon":116.411411222501,"lat":39.9753341630918,"alt":34.4018669128417,"heading":0.342695406938048,"speed":0.003303937,"type":3,"uuid":"2_1"}

1
modules/mogo-module-service/src/main/assets/adascar0.txt Normal file
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1
modules/mogo-module-service/src/main/assets/adascar1.txt Normal file
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File diff suppressed because one or more lines are too long

1
modules/mogo-module-service/src/main/assets/adascar2.txt Normal file
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File diff suppressed because one or more lines are too long

141
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -62,7 +62,7 @@ import java.util.List;
* @author congtaowang
* @since 2020-04-17
* <p>
* 描述
* 使用控制台发送广播，这里接收intent来处理场景
*/
public class MockIntentHandler implements IntentHandler {
@@ -90,7 +90,7 @@ public class MockIntentHandler implements IntentHandler {
TipToast.shortTip( msg );
}
break;
case 4:
case 4:// 测试左侧按钮1
TextView button1 = MarkerServiceHandler.getApis().getEntranceButtonController().getButton( ButtonIndex.BUTTON1 );
if ( button1 != null ) {
button1.setVisibility( View.VISIBLE );
@@ -99,18 +99,18 @@ public class MockIntentHandler implements IntentHandler {
} );
}
break;
case 5:
TextView button2 = MarkerServiceHandler.getApis().getEntranceButtonController().getButton( ButtonIndex.BUTTON1 );
case 5:// 测试左侧按钮2
TextView button2 = MarkerServiceHandler.getApis().getEntranceButtonController().getButton( ButtonIndex.BUTTON2 );
if ( button2 != null ) {
button2.setOnClickListener( null );
button2.setVisibility( View.GONE );
}
break;
case 6:
case 6://
boolean status1 = intent.getBooleanExtra( "status", false );
MarkerServiceHandler.getMogoStatusManager().setUploadingStatus( TAG, status1 );
break;
case 7:
case 7:// 打开微信
TextView button11 = MarkerServiceHandler.getApis().getEntranceButtonController().getButton( ButtonIndex.BUTTON1 );
if ( button11 != null ) {
button11.setVisibility( View.VISIBLE );
@@ -130,11 +130,11 @@ public class MockIntentHandler implements IntentHandler {
} );
}
break;
case 8:
case 8:// 测试修改车头角度
float bearing = intent.getFloatExtra( "bearing", 0 );
MarkerServiceHandler.getMapUIController().changeBearing( bearing );
break;
case 9:
case 9:// 测试弹窗
new WMDialog.Builder( context )
.setOkButton( "确认", ( dlg, which ) -> {
dlg.dismiss();
@@ -146,7 +146,7 @@ public class MockIntentHandler implements IntentHandler {
.build()
.show();
break;
case 10:
case 10://测试GEO查询
IMogoGeoSearch geoSearch = MarkerServiceHandler.getMapService().getGeoSearch( context );
geoSearch.setGeoSearchListener( new IMogoGeoSearchListener() {
@Override
@@ -165,10 +165,10 @@ public class MockIntentHandler implements IntentHandler {
query.setRadius( 1000 );
geoSearch.getFromLocationAsyn( query );
break;
case 11:
case 11:// 控制ADAS中的设置页面
MarkerServiceHandler.getADASController().setSettingStatus( intent.getBooleanExtra( "status", false ) );
break;
case 12: {
case 12: {// 控制ADAS显示隐藏
boolean status2 = intent.getBooleanExtra( "status", false );
if ( status2 ) {
MarkerServiceHandler.getADASController().showADAS();
@@ -177,7 +177,7 @@ public class MockIntentHandler implements IntentHandler {
}
}
break;
case 13: {
case 13: {// 唤起高德地图
double lat = intent.getFloatExtra( "lat", 0.0f );
double lon = intent.getFloatExtra( "lon", 0.0f );
boolean real = intent.getBooleanExtra( "real", false );
@@ -225,7 +225,7 @@ public class MockIntentHandler implements IntentHandler {
} );
MarkerServiceHandler.getNavi().naviTo( new MogoLatLng( lat, lon ) );
}
case 14: {
case 14: {//测试点的动画移动，模拟周边车辆移动
List< MogoLatLng > mogoLatLngs = new ArrayList<>();
mogoLatLngs.add( new MogoLatLng( 39.615986, 116.396716 ) );
mogoLatLngs.add( new MogoLatLng( 39.616007, 116.396995 ) );
@@ -355,30 +355,30 @@ public class MockIntentHandler implements IntentHandler {
// case 16:
// MarkerServiceHandler.getGpsSimulatorManager().close();
// break;
case 17:
case 17:// 查询在线车辆数据
DebugConfig.setRequestOnlineCarData( intent.getBooleanExtra( "status", true ) );
break;
case 18:
case 18:// 设置是否使用自研地图
TipToast.shortTip( "设置完成，下次启动生效" );
SharedPrefsMgr.getInstance( context ).putBoolean( "useCustomMap", intent.getBooleanExtra( "useCustomMap", false ) );
break;
case 30:
case 30:// 强制刷新地图
MarkerServiceHandler.getMapService().getMapUIController().forceRender();
break;
case 31:
case 31://
Intent intent3 = new Intent();
intent3.setAction( "AUTONAVI_STANDARD_BROADCAST_RECV" );
intent3.putExtra( "KEY_TYPE", 12404 );
intent3.putExtra( "EXTRA_REQUEST_AUTO_STATE", 0 );
context.sendBroadcast( intent3 );
break;
case 32:
case 32:// 控制实时路况
MarkerServiceHandler.getMapService().getMapUIController().setTrafficEnabled( true );
break;
case 33:
case 33:// 测试小智语音
AIAssist.getInstance( context ).speakTTSVoice( "庞帆说这个是一个 hard coding." );
break;
case 34:
case 34:// 修改地图模式VR OR 2D
int type = intent.getIntExtra( "type", 0 );
if ( type != 0 ) {
MogoApisHandler.getInstance().getApis().getMapFrameControllerApi().changeToVRMode();
@@ -386,10 +386,10 @@ public class MockIntentHandler implements IntentHandler {
MogoApisHandler.getInstance().getApis().getMapFrameControllerApi().changeTo2dMode();
}
break;
case 35:
case 35://测试GPS数据
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().testGpsData();
break;
case 36:
case 36:// 测试打点功能
MogoLatLng center = MogoApisHandler.getInstance().getApis()
.getMapServiceApi().getMapUIController()
.getWindowCenterLocation();
@@ -399,16 +399,16 @@ public class MockIntentHandler implements IntentHandler {
.position( center )
.icon( BitmapFactory.decodeResource( context.getResources(), R.drawable.bg_map_marker_red ) ) );
break;
case 37:
case 37:// 销毁测试打点
if ( centerMarker != null ) {
centerMarker.destroy();
}
break;
case 38:
case 38:// 控制RTK
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController()
.rtkEnable( false );
break;
case 39:
case 39:// 使用自动驾驶车的定位数据
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController()
.syncLocation2Map( null );
break;
@@ -494,12 +494,12 @@ public class MockIntentHandler implements IntentHandler {
Logger.d( TAG, "偏差值：%s", delta );
}
break;
case 41:
case 41://
// adb shell am broadcast -a com.mogo.mock --ei oper 41 --ei type 0 平滑移动
// adb shell am broadcast -a com.mogo.mock --ei oper 41 --ei type 1 直接打点
DebugConfig.setNotSmooth( intent.getIntExtra( "type", 0 ) == 1 );
break;
case 42:
case 42://
WorkThreadHandler.getInstance().post( () -> {
try {
InputStream is = context.getAssets().open( "coors.json" );
@@ -531,13 +531,13 @@ public class MockIntentHandler implements IntentHandler {
}
} );
break;
case 43:
case 43://
MogoApisHandler.getInstance()
.getApis()
.getAdasControllerApi()
.onAutopilotArriveLike( intent.getIntExtra( "type", 8 ) );
break;
case 44:
case 44:// 控制自动驾驶
RemoteControlAutoPilotParameters parameters = new RemoteControlAutoPilotParameters();
parameters.vehicleType = 9;
parameters.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat( 40.1690522746, 116.567374558 );
@@ -547,21 +547,21 @@ public class MockIntentHandler implements IntentHandler {
.getAdasControllerApi()
.aiCloudToAdasData( parameters );
break;
case 45:
case 45:// 测试开启鹰眼模式
MogoApisHandler.getInstance()
.getApis()
.getMapServiceApi()
.getMapUIController()
.openVrMode( false );
break;
case 46:
case 46:// 模拟 自车周边数据
String json = "{\"allList\":[{\"type\":3,\"uuid\":\"10009-5152\",\"lat\":40.1990809296,\"lon\":116.7393252195,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0},{\"type\":3,\"uuid\":\"10009-5161\",\"lat\":40.1990827227,\"lon\":116.739325826,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0}],\"nearList\":[],\"time\":1614329152238}";
SnapshotSetDataDrawer.getInstance().renderSnapshotData( GsonUtil.objectFromJson( json, MogoSnapshotSetData.class ) );
break;
case 47:
case 47:// 模拟鹰眼模式下绘制车辆周边的数据
mTimeTickHandler.sendEmptyMessageDelayed( 1, 0L );
break;
case 48:
case 48:// 模拟3D模型绘制
MogoMarkerOptions options = new MogoMarkerOptions()
.owner( DataTypes.TYPE_MARKER_ADAS )
.anchor( 0.5f, 0.5f )
@@ -577,7 +577,7 @@ public class MockIntentHandler implements IntentHandler {
latLngs.add( new MogoLatLng( 39.981990561932, 116.412893641626 ) );
marker.startSmoothInMs( latLngs, 20_000L );
break;
case 49:
case 49:// 绘制marker
// 39.96741320378243, 116.41045709250723
// 39.98232698552779,116.41879656379113;
MogoMarkerOptions options1 = new MogoMarkerOptions()
@@ -611,20 +611,23 @@ public class MockIntentHandler implements IntentHandler {
.rotate( ( float ) 358.526123 );
IMogoMarker marker3 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( context ).addMarker( DataTypes.TYPE_MARKER_ADAS, options3 );
break;
case 50:
case 50://
DebugConfig.setSelfCarSpeedYOffset( intent.getIntExtra( "yOffset", 20 ) );
break;
case 51:
case 51:// 模拟路口车辆移动
mLocationMockHandler.sendEmptyMessageDelayed( 100, 0L );
mLocationMockHandler.sendEmptyMessageDelayed( 101, 1000L );
break;
case 52:
case 52:// 打开连调工控机、ADAS的控制面板
EnvStatusManager.getInstance().showPanel( context );
break;
case 53:
case 53:// 控制 Adas识别 是否可用
boolean isUseAdasRecognize = intent.getBooleanExtra( "status", false );
DebugConfig.setUseAdasRecognize( isUseAdasRecognize );
break;
case 54:
mTimeTickCarHandler.sendEmptyMessageDelayed( 1, 0L );
break;
}
}
@@ -679,6 +682,7 @@ public class MockIntentHandler implements IntentHandler {
}
}
private Handler mLocationMockHandler = new Handler( WorkThreadHandler.newInstance( "loc-mock-thread" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
@@ -740,9 +744,28 @@ public class MockIntentHandler implements IntentHandler {
}
roadSizeBr = null;
}
} else if (msg.what == 8) {
try {
handleMockAdasCarIntent();
} catch ( Exception e ) {
try {
if ( readers2 != null ) {
for ( BufferedReader reader : readers2 ) {
if (reader != null) {
reader.close();
}
}
}
} catch ( IOException ex ) {
ex.printStackTrace();
}
readers2 = null;
}
}
}
};
private Handler mLocationMockHandler1 = new Handler( WorkThreadHandler.newInstance( "loc-mock-thread1" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
@@ -780,6 +803,19 @@ public class MockIntentHandler implements IntentHandler {
}
};
private Handler mTimeTickCarHandler = new Handler( WorkThreadHandler.newInstance( "loc-time-mock-thread" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
super.handleMessage( msg );
mLocDelay += 50;
if ( mLocDelay > 4_000L ) {
mLocationMockHandler1.sendEmptyMessageDelayed( 1, 0L );
}
mLocationMockHandler.sendEmptyMessageDelayed( 8, 0L );
mTimeTickCarHandler.sendEmptyMessageDelayed( 0, 50L );
}
};
private BufferedReader br;
private boolean handleMockLocationIntent() throws Exception {
@@ -792,6 +828,7 @@ public class MockIntentHandler implements IntentHandler {
throw new Exception( "end of file." );
}
JSONObject jo = new JSONObject( line );
//改变rtk定位数据，触发自车移动
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( jo );
Log.i( "mock-timer-loc-map", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
SnapshotLocationController.getInstance().syncAdasLocationInfo( jo );
@@ -830,6 +867,7 @@ public class MockIntentHandler implements IntentHandler {
}
private BufferedReader[] readers = null;
private BufferedReader[] readers2 = null;
private boolean handleMockAdasIntent() throws Exception {
final long start = System.currentTimeMillis();
@@ -858,6 +896,33 @@ public class MockIntentHandler implements IntentHandler {
return true;
}
private boolean handleMockAdasCarIntent() throws Exception {
final long start = System.currentTimeMillis();
if ( readers2 == null ) {
readers2 = new BufferedReader[3];
for ( int i = 0; i < 3; i++ ) {
readers2[i] = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adascar" + i + ".txt" ) ) );
}
}
List< ADASRecognizedResult > allList = new ArrayList<>();
for ( BufferedReader reader : readers2 ) {
String line = reader.readLine();
ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
if ( adasRecognizedResult != null ) {
allList.add( adasRecognizedResult );
}
}
AdasRec adasRec = new AdasRec();
adasRec.models = allList;
MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized( GsonUtil.jsonFromObject( adasRec ) );
Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
return true;
}
public static class AdasRec{
public String action = "view";
public List<ADASRecognizedResult> models;

5
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
View File

@@ -153,6 +153,11 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
MarkerServiceHandler.getApis().getAdasControllerApi().addAdasRecognizedDataCallback( resultList -> {
// 绘制近景识别到的车辆
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList );
//绘制他车的线 lixp TODO
//添加自车的定位图标 TODO
} );
}

28
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
View File

@@ -1,6 +1,7 @@
package com.mogo.module.v2x;
import android.content.Context;
import android.content.Intent;
import android.util.Log;
import com.mogo.map.MogoLatLng;
@@ -80,12 +81,22 @@ public class V2XWaringManager {
/**
* 测试数据
*/
private void testData() {
private void testData(String adasResult) {
try {
int id = R.raw.scenario_warning_event_data;
switch (adasResult) {
case "left":
id = R.raw.scenario_warning_event_data_left;
break;
case "pedestrians":
id = R.raw.scenario_warning_event_data_pedestrians;
break;
default:
}
InputStream inputStream = V2XUtils.getApp()
.getResources()
.openRawResource(R.raw.scenario_warning_event_data);
.openRawResource(id);
ByteArrayOutputStream baos = new ByteArrayOutputStream();
int len = -1;
byte[] buffer = new byte[1024];
@@ -111,7 +122,7 @@ public class V2XWaringManager {
if (v2XWarnMessageListener != null) {
V2XServiceManager
.getMoGoSocketManager()
.unregisterOnMessageListener(10116, v2XWarnMessageListener);
.unregisterOnMessageListener(401018, v2XWarnMessageListener);
}
}
@@ -123,8 +134,8 @@ public class V2XWaringManager {
V2XServiceManager
.getMoGoSocketManager()
.registerOnMessageListener(
10116,
v2XWarnMessageListener );
401018,
v2XWarnMessageListener);
}
public V2XWarnMessageListener getV2XMessageListener() {
@@ -135,11 +146,11 @@ public class V2XWaringManager {
/**
* 处理adas返回的数据
*/
public void handleAdasData() {
public void handleAdasData(Intent intent) {
Log.d(V2XConst.LOG_NAME_WARN, "V2XWaringManager ---- handleAdasData ");
String adasResult = (String) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
//测试数据
testData();
testData(adasResult);
// adas 每隔一秒传递的他车或行人数据，避免重复。
// V2XServiceManager.getmIMogoADASController().addAdasRecognizedDataCallback(resultList -> {
@@ -158,6 +169,7 @@ public class V2XWaringManager {
/**
* 添加2d的碰撞 marker
*
* @param markerShowEntity
* @return
*/

2
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XLocationListener.java
View File

@@ -69,7 +69,7 @@ public class V2XLocationListener
private CarLocationSubject mCarLocationSubject;
private V2XLocationListener() {
mCarLocationSubject = new CarLocationSubject();
mCarLocationSubject = CarLocationSubject.getInstance();
// 注册最优路线的推荐观察者
mCarLocationSubject.registerObserver(
V2XOptimalRouteObserver.TYPE,

1
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XWarnMessageListener.java
View File

@@ -10,6 +10,7 @@ import com.mogo.service.connection.IMogoOnMessageListener;
/**
* desc: 下发的云端预警数据
*
*/
public class V2XWarnMessageListener implements IMogoOnMessageListener<V2XWarningEntity> {

139
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
View File

@@ -7,11 +7,12 @@ import android.util.Log;
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.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;
@@ -20,7 +21,9 @@ import com.mogo.module.v2x.MoGoV2XServicePaths;
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.listener.V2XLocationListener;
import com.mogo.module.v2x.manager.IMoGoV2XCloundDataManager;
import com.mogo.module.v2x.scenario.scene.warning.V2XFrontWarningScenario;
import com.mogo.utils.UiThreadHandler;
import com.mogo.utils.WorkThreadHandler;
@@ -28,6 +31,8 @@ import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;
import static com.mogo.module.v2x.V2XServiceManager.getContext;
/**
@@ -35,6 +40,7 @@ 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;
@@ -45,7 +51,15 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon()
);
/*
* 自车前方的点,在停止线上--通过自车位置与距离停止线之间的距离计算
* */
private MogoLatLng middleLocationInStopLine;
private V2XFrontWarningScenario mV2XScenario;
private static long showTime = 0;
private float bearing;
@Override
public void init(Context context) {
@@ -56,27 +70,37 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
@Override
public void analysisV2XCloundDataEvent(V2XWarningEntity cloundWarningInfo) {
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
Log.d(V2XConst.LOG_NAME_WARN, "analysisV2XCloundDataEvent -----> ");
mCloundWarningInfo = cloundWarningInfo;
showTime = mCloundWarningInfo.getShowTime();
pointsBetween();
bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();
//顶部弹框
if (mV2XScenario == null) {
mV2XScenario = new V2XFrontWarningScenario();
}
mV2XScenario.setWarningEntity(cloundWarningInfo);
mV2XScenario.init(null);
//预警蒙层
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getType(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
isSelfLineClear = false;
isFirstLocation = false;
if (cloundWarningInfo.getDirection() == 1) { //前方
MogoLatLng startLatLng = getMiddleLocationInStopLine();
MogoLatLng warningLocation = Trigonometric.getNewLocation(startLatLng, 80, cloundWarningInfo.getAngle());
V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
if (cloundWarningInfo.getDirection() == 1) { //前方 TODO
middleLocationInStopLine = getMiddleLocationInStopLine();
MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine, 50, cloundWarningInfo.getAngle());
//停止线前方画线
WorkThreadHandler.getInstance().postDelayed(() -> {
//二轮车和行人的渲染和移动
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
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);
drawRedWarningLineFrontOfStopLine(cloundWarningInfo, middleLocationInStopLine, warningLocation);
//添加停止线marker
handleStopLine();
//自车画线
drawSlefCarLine(carLocation.lon, carLocation.lat, bearing);
}, 500);
UiThreadHandler.postDelayed(() -> {
@@ -91,7 +115,12 @@ 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
drawOtherObjectLine(cloundWarningInfo);
//二轮车和行人的渲染和移动
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
//车辆静止的时候
drawSlefCarLine(carLocation.lon, carLocation.lat, bearing);
}, 500);
//延迟3秒清理线
@@ -104,32 +133,39 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
}
}
/*
* 停止线绘制
* */
private void handleStopLine() {
if (mCloundWarningInfo != null) {
for (int i = 0; i < fillPoints.size(); i++) {
V2XWarningEntity entity = new V2XWarningEntity();
MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
entity.setLat(latLng.lat);
entity.setLon(latLng.lon);
entity.setCollisionLat(mCloundWarningInfo.getCollisionLat());
entity.setCollisionLon(mCloundWarningInfo.getCollisionLon());
entity.heading = mCloundWarningInfo.heading;
V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
try {
if (mCloundWarningInfo != null) {
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
for (int i = 0; i < fillPoints.size(); i++) {
V2XWarningEntity entity = new V2XWarningEntity();
MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
entity.setLat(latLng.lat);
entity.setLon(latLng.lon);
entity.setCollisionLat(mCloundWarningInfo.getCollisionLat());
entity.setCollisionLon(mCloundWarningInfo.getCollisionLon());
entity.heading = mCloundWarningInfo.heading;
V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
/**
* 场景如:车辆行驶正前方绘制红色区域(停止线继续前行的预警区域) TODO 需要实时给行人当前位置
*/
private void drawStopLine(V2XWarningEntity info, MogoLatLng startLatLng, MogoLatLng mogoLatLng) {
private void drawRedWarningLineFrontOfStopLine(V2XWarningEntity info, MogoLatLng startLatLng, MogoLatLng mogoLatLng) {
if (info != null) {
IMogoPolyline polyLine = V2XServiceManager.getMoGoStopPolylineManager().getMogoStopPolyline();
MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon);
float distance = CoordinateUtils.calculateLineDistance(startLatLng.lon, startLatLng.lat, endLatlng.lon, endLatlng.lat);
MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng, distance / 2, mCloundWarningInfo.getAngle());
Log.d(V2XConst.LOG_NAME_WARN, "红色区域起始点 = " + startLatLng.lon + "," + startLatLng.lat +
Log.d(TAG, "红色区域起始点 = " + startLatLng.lon + "," + startLatLng.lat +
"中间点坐标:" + addMiddleLoc.lon + "," + addMiddleLoc.lat
+ "终点" + endLatlng.lon + "," + endLatlng.lat);
if (polyLine != null) {
@@ -145,11 +181,12 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
lineInfo.setLocations(locations);
lineInfo.setHeading(info.heading);
Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine width = " + info.getRoadwidth());
lineInfo.setWidth(info.getRoadwidth() * 10 + 5);
lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
V2XServiceManager.getMoGoStopPolylineManager().drawStopPolyline(getContext(), lineInfo);
}
} else {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoStopPolylineManager().clearLine();
}
}
@@ -160,10 +197,11 @@ 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,
Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));//补点
if (polyLine != null) {
Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
@@ -178,8 +216,10 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
lineInfo.setLocations(locations);
lineInfo.setHeading(info.heading);
Log.d(V2XConst.LOG_NAME_WARN, "drawOtherObjectLine width = " + info.getRoadwidth());
lineInfo.setWidth(info.getRoadwidth() * 10 + 5);
lineInfo.setWidth(info.getRoadwidth() * 14 + 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 +229,24 @@ 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);
double rotate = Trigonometric.getAngle(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++) {
MogoLatLng newLo = Trigonometric.getNewLocation(
startLatLng, 5 * i, mCloundWarningInfo.getAngle());
V2XWarnDataDrawer.getInstance().drawerMarkerWithLocation(markerShowEntity, newLo);
startLatLng, 5 * (i + 1), Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat));
Log.d(TAG, "小箭头位置" + newLo);
V2XWarnDataDrawer.getInstance().drawerArrowsMarkerWithLocation(newLo, WARNING_ARROWS, 10, new Double(rotate).intValue());
}
}
//延迟3秒清理线
UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
}, showTime);
}
@Override
@@ -207,48 +254,52 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
}
/**
* 自车定位 移动完成需要 3s消失,这里何时清理，应该是没有数据的时候
*/
@Override
public void onCarLocationChanged2(Location latLng) {
// Log.d(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude() + "---isSelfLineClear = " + isSelfLineClear);
// Log.d(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 lat = " + latLng.getLatitude() + "--lon =" + latLng.getLongitude() + "---isSelfLineClear = " + isSelfLineClear);
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
//当行人经纬度交点 开始画线，否则清理
if (mCloundWarningInfo != null) {
mCloundWarningInfo.setCarLocation(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
}
drawSlefCarLine(latLng);
drawSlefCarLine(latLng.getLongitude(), latLng.getLatitude(), latLng.getBearing());
}
carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
drawSlefCarLine(latLng);
}
@Override
public void onCarLocationChanged(MogoLatLng latLng) {
}
/**
* 绘制安全区域,自车与碰撞点之间的蓝色线
* 自车为起点绘制(根据设计,前方行人/弱势交通参与者预警 getDirection() == 1 自车与停止线之间为蓝色预警;其他侧方预警自车与预碰撞点之间显示红色预警)
*/
private void drawSlefCarLine(Location latLng) {
private void drawSlefCarLine(double lon, double lat, float bearing) {
if (!isSelfLineClear) {
IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
if (mCloundWarningInfo != null) {
MogoLatLng startLatlng = null;
MogoLatLng endLatlng = null;
MogoLatLng addMiddleLoc = null;
if (!isFirstLocation) {
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(),
mCloundWarningInfo.getDirection() == 1 ? carLocation.lon : mCloundWarningInfo.getCollisionLon());
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
Log.d(V2XConst.LOG_NAME_WARN, "drawSlefCarLine lon = " + carLocation.lon + "---lat = " + carLocation.lat);
carLocation = getMogoLat(new MogoLatLng(lat, lon));
isFirstLocation = true;
}
//自车位置
endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == 1 ? middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
startLatlng = new MogoLatLng(lat, lon);
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));
Log.d(TAG, "自车为起点绘制 自车;" + startLatlng.lat + "," + startLatlng.lon +
"中间扩展点" + addMiddleLoc.lon + "," + addMiddleLoc.lat + "终点:" + endLatlng.lon + "," + endLatlng.lat);
if (mogoPolyline != null) {
mogoPolyline.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
mogoPolyline.setTransparency(0.5f);
@@ -260,8 +311,8 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
locations.add(addMiddleLoc);
locations.add(endLatlng);
info.setLocations(locations);
info.setHeading(latLng.getBearing());
info.setWidth(mCloundWarningInfo.getRoadwidth() * 10 + 5);
info.setHeading(bearing);
info.setWidth(mCloundWarningInfo.getRoadwidth() * 14 + 5);
info.setDirection(mCloundWarningInfo.getDirection());
V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
}

4
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XPolylineManager.java
View File

@@ -35,7 +35,9 @@ public class MoGoV2XPolylineManager implements IMoGoV2XPolylineManager {
}
if ((V2XServiceManager.getMoGoV2XStatusManager().isRoadEventPOIShow()
|| V2XServiceManager.getMoGoV2XStatusManager().isOtherSeekHelpPOIShow())
&& V2XServiceManager.getV2XStatusManager().getTargetMoGoLatLng() != null) {
&& V2XServiceManager.getV2XStatusManager().getTargetMoGoLatLng() != null
&& !V2XServiceManager.getMoGoStatusManager().isVrMode()
) {
// 连接线参数
MogoPolylineOptions options = new MogoPolylineOptions();

1
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
View File

@@ -56,7 +56,6 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
// 线条粗细，渐变，渐变色值
// 当前车辆位置
options.width(info.getWidth() == 0.0 ? 60 : info.getWidth()).useGradient(true).colorValues(colors);
// options.width(60).useGradient(true).colorValues(colors);
List<MogoLatLng> locations = info.getLocations();
for (int i = 0; i < locations.size(); i++) {
options.add(locations.get(i));

25
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/observer/CarLocationSubject.java
View File

@@ -12,12 +12,27 @@ import java.util.Set;
*/
public class CarLocationSubject {
private static CarLocationSubject mCarLocationSubject;
// 车辆位置
public MogoLocation carLocation;
// 观察者集合
private HashMap<String, CarLocationObserver> observers = new HashMap<String, CarLocationObserver>();
private HashMap<String, CarLocationObserver> mObservers = new HashMap<>();
private CarLocationSubject() {
}
public static CarLocationSubject getInstance() {
if (mCarLocationSubject == null) {
synchronized (CarLocationSubject.class) {
if (mCarLocationSubject == null) {
mCarLocationSubject = new CarLocationSubject();
}
}
}
return mCarLocationSubject;
}
/**
* 设置新的车辆位置
*
@@ -35,7 +50,7 @@ public class CarLocationSubject {
* @param observer 新的观察者
*/
public void registerObserver(String observerType, CarLocationObserver observer) {
observers.put(observerType, observer);
mObservers.put(observerType, observer);
}
/**
@@ -44,16 +59,16 @@ public class CarLocationSubject {
* @param observerType 观察者类型
*/
public void removeObserver(String observerType) {
observers.remove(observerType);
mObservers.remove(observerType);
}
/**
* 通知所有观察者更新
*/
private void notifyAllObservers() {
Set<String> keySet = observers.keySet();
Set<String> keySet = mObservers.keySet();
for (String s : keySet) {
CarLocationObserver observer = observers.get(s);
CarLocationObserver observer = mObservers.get(s);
if (observer != null) {
observer.update(carLocation);
}

17
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/overlay/V2XOptimalRouteOverlay.java
View File

@@ -6,6 +6,7 @@ import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.map.overlay.MogoPolylineOptions;
import com.mogo.module.v2x.V2XServiceManager;
import com.mogo.module.v2x.utils.LocationUtils;
import com.mogo.utils.ColorUtils;
import java.util.ArrayList;
import java.util.List;
@@ -22,16 +23,15 @@ public class V2XOptimalRouteOverlay {
private MogoPolylineOptions mPolylineOptions;
// 线路径集合
private List<MogoLatLng> mPolylinePointList;
// 渐变色
private List<Integer> mPolylineColors;
public V2XOptimalRouteOverlay() {
mPolylineOptions = new MogoPolylineOptions();
// 渐变色
List<Integer> colors = new ArrayList<>();
colors.add(0xFFF95959);
// 线条粗细，渐变，渐变色值
mPolylineOptions.width(25).useGradient(true).colorValues(colors);
// 绘制路径集合
mPolylinePointList = new ArrayList<>();
// 引导线颜色
mPolylineColors = new ArrayList<>();
}
/**
@@ -43,8 +43,10 @@ public class V2XOptimalRouteOverlay {
if (mMoGoPolyline != null) {
mMoGoPolyline.remove();
mPolylinePointList.clear();
mPolylineColors.clear();
}
if (polylinePoint != null) {
// 将当前车辆位置放进去
mPolylinePointList.add(new MogoLatLng(carLocal.getLatitude(), carLocal.getLongitude()));
// 过滤后台推送的推荐路线集合
@@ -54,8 +56,13 @@ public class V2XOptimalRouteOverlay {
mPolylinePointList.add(polyline);
}
}
mPolylineColors.addAll(ColorUtils.gradientAlpha("#002965ED", "#FF2965ED", mPolylinePointList.size() / 3));
// 替换路径集合
mPolylineOptions.points(mPolylinePointList);
// 线条粗细，渐变，渐变色值
mPolylineOptions.width(25).useGradient(true).colorValues(mPolylineColors);
// 绘制线
mMoGoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(mPolylineOptions);
}

2
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/AdasDataBroadcastReceiver.java
View File

@@ -23,7 +23,7 @@ public class AdasDataBroadcastReceiver extends BroadcastReceiver {
// Logger.d(V2XConst.LOG_NAME_WARN, "AdasDataBroadcastReceiver -->" + GsonUtil.jsonFromObject(adasResult));
String adasResult = (String) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
Log.d(V2XConst.LOG_NAME_WARN, "AdasDataBroadcastReceiver -----> ");
V2XWaringManager.getInstance().handleAdasData();
V2XWaringManager.getInstance().handleAdasData(intent);
} catch (Exception e) {
e.printStackTrace();

3
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/fatigue/V2XFatigueDrivingScenario.java
View File

@@ -40,6 +40,9 @@ public class V2XFatigueDrivingScenario extends AbsV2XScenario<V2XPushMessageEnti
@Override
public void init(@Nullable V2XMessageEntity<V2XPushMessageEntity> v2XMessageEntity) {
if (V2XServiceManager.getMoGoStatusManager().isVrMode()) {
return;
}
if (!isSameScenario(v2XMessageEntity)) {
setV2XMessageEntity(v2XMessageEntity);
if (v2XMessageEntity != null) {

12
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java
View File

@@ -362,17 +362,21 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
});
/*
*障碍物绕行
*车路云场景预警-左侧
* */
btnTriggerObstacleDetour.setOnClickListener(v -> {
Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "left");
getContext().sendBroadcast(intent);
});
/*
*行人预警，行人路线预测
*行人预警，行人路线预测 车路云预警-前方行人
* */
btnTriggerPedestrianWarning.setOnClickListener(v -> {
Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "pedestrians");
getContext().sendBroadcast(intent);
});
/*

27
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
View File

@@ -48,24 +48,35 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
public V2XFrontWarningScenario() {
setV2XWindow(new V2XWarningWindow());
setV2XMarker(new V2XWarningMarker());
// setV2XMarker(new V2XWarningMarker());
}
@Override
public void init(@Nullable V2XMessageEntity v2XMessageEntity) {
try {
if (v2XMessageEntity != null && V2XServiceManager.getMoGoStatusManager().isMainPageOnResume()) {
mMarkerEntity = (V2XWarningEntity) v2XMessageEntity.getContent();
if (v2XMessageEntity != null) {
if (V2XServiceManager.getMoGoStatusManager().isMainPageOnResume()) {
mMarkerEntity = (V2XWarningEntity) v2XMessageEntity.getContent();
direction = mMarkerEntity.getDirection();
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(direction, MogoReceiver.ACTION_V2X_FRONT_WARNING);
show();
drawPOI();
}
} else {
direction = mMarkerEntity.getDirection();
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(direction, MogoReceiver.ACTION_V2X_FRONT_WARNING);
show();
drawPOI();
// drawPOI();
}
} catch (Exception e) {
e.printStackTrace();
}
}
public void setWarningEntity(V2XWarningEntity markerEntity) {
mMarkerEntity = markerEntity;
}
@Override
public void show() {
showWindow();
@@ -84,7 +95,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
.getMogoTopViewManager()
.addView(getV2XWindow().getView(), layoutParams, this);
getV2XWindow().show(mMarkerEntity);
getV2XMarker().drawPOI(mMarkerEntity);
// getV2XMarker().drawPOI(mMarkerEntity);
}
}
@@ -105,8 +116,10 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
@Override
public void drawPOI() {
getV2XMarker().drawPOI(mMarkerEntity);
Log.d(TAG, "drawPOI");
if (getV2XMarker() != null) {
getV2XMarker().drawPOI(mMarkerEntity);
Log.d(TAG, "drawPOI");
}
}
@Override

34
modules/mogo-module-v2x/src/main/res/layout/window_test_console.xml
View File

@@ -237,6 +237,7 @@
android:textColor="#FFFFFF"
android:textSize="@dimen/dp_22"
android:textStyle="bold" />
<Button
android:id="@+id/btnTriggerWarningEvent"
android:layout_width="wrap_content"
@@ -426,7 +427,21 @@
android:layout_marginBottom="@dimen/dp_10"
android:background="#00BCD4"
android:padding="@dimen/dp_10"
android:text="障碍物绕行"
android:text="车路云场景预警-左侧"
android:textColor="#FFFFFF"
android:textSize="@dimen/dp_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="车路云场景预警-右侧"
android:textColor="#FFFFFF"
android:textSize="@dimen/dp_22"
app:layout_constraintBottom_toBottomOf="parent"
@@ -440,7 +455,7 @@
android:layout_marginBottom="@dimen/dp_10"
android:background="#009688"
android:padding="@dimen/dp_10"
android:text="行人预警，行人路线预测"
android:text="车路云场景预警-前方行人"
android:textColor="#FFFFFF"
android:textSize="@dimen/dp_22"
app:layout_constraintBottom_toBottomOf="parent"
@@ -473,21 +488,6 @@
android:textSize="@dimen/dp_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>

8
modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json
View File

@@ -1,7 +1,7 @@
{
"type": 10013,
"lat": 39.977148,
"lon": 116.417478,
"lon": 116.417886,
"distance": 2,
"collisionLat": 39.977094,
"collisionLon": 116.417634,
@@ -11,13 +11,13 @@
"lon": 116.417651
},
{
"lat": 39.976874,
"lon": 116.417757
"lat": 39.976858,
"lon": 116.417683
}
],
"from": 1,
"angle": 0,
"direction": 1,
"direction": 3,
"speed": 11.108121,
"targetColor": "#FF4040",
"stopLineDistance": 60,

32
modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_left.json Normal file
View File

@@ -0,0 +1,32 @@
{
"type": 10013,
"lat": 39.977148,
"lon": 116.417478,
"distance": 2,
"collisionLat": 39.977094,
"collisionLon": 116.417634,
"stopLines": [
{
"lat": 39.976858,
"lon": 116.417651
},
{
"lat": 39.976874,
"lon": 116.417757
}
],
"from": 1,
"angle": 0,
"direction": 3,
"speed": 11.108121,
"targetColor": "#FF4040",
"stopLineDistance": 60,
"warningContent": "小心行人",
"heading": 0,
"showTime": 8000,
"roadwidth": 4.0,
"carLocation": {
"lat": 39.97665425,
"lon": 116.41769983
}
}

32
modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json Normal file
View File

@@ -0,0 +1,32 @@
{
"type": 10013,
"lat": 39.977148,
"lon": 116.417886,
"distance": 2,
"collisionLat": 39.977094,
"collisionLon": 116.417634,
"stopLines": [
{
"lat": 39.976858,
"lon": 116.417651
},
{
"lat": 39.976858,
"lon": 116.417683
}
],
"from": 1,
"angle": 0,
"direction": 1,
"speed": 11.108121,
"targetColor": "#FF4040",
"stopLineDistance": 60,
"warningContent": "小心行人",
"heading": 0,
"showTime": 8000,
"roadwidth": 4.0,
"carLocation": {
"lat": 39.97665425,
"lon": 116.41769983
}
}

2
modules/mogo-module-widgets/src/main/java/com/mogo/module/widgets/MogoWidgetsProvider.java
View File

@@ -23,7 +23,7 @@ public
* @author congtaowang
* @since 2020/8/12
*
* 描述
* 高德地图启动的时候才会用到这个模块
*/
@Route( path = MogoWidgetsProvider.PATH )
class MogoWidgetsProvider implements IMogoModuleProvider {