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Merge branch 'warn' into qa_hengyang_base

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This commit is contained in:
liujing
2021-07-15 19:55:03 +08:00
parent 0a9a7163c8 bf09b5a61a
commit 4075766b36
5 changed files with 87 additions and 107 deletions
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10
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
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@@ -74,7 +74,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
/**
* 绘制行人和二轮车,前方和左右
* 识别物移动
*
* @param data
*/
@@ -87,12 +87,10 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
markerShowEntity.setMarkerLocation(location);
markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_WARN_DATA);
IMogoMarker marker = drawMarker(markerShowEntity, modeResType(data.getType()));
//识别物
marker.addDynamicAnchorPosition(new MogoLatLng(data.getCollisionLat(), data.getCollisionLon()), (float) data.getHeading(), 5000);
//移动完成以后，3s后消失
marker.addDynamicAnchorPosition(new MogoLatLng(data.getCollisionLat(), data.getCollisionLon()), (float) data.getHeading(), (long) (data.getShowTime() * 1000));
UiThreadHandler.postDelayed(() -> {
marker.remove();
}, data.getShowTime());
}, data.getShowTime() * 1000);
}
@@ -176,8 +174,6 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
markerShowEntity.setMarkerLocation(location);
markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
IMogoMarker marker = drawStopLineMarker(markerShowEntity);
}
/**

178
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
View File

@@ -27,6 +27,7 @@ import com.mogo.module.v2x.scenario.view.IV2XMarker;
import com.mogo.utils.UiThreadHandler;
import com.mogo.utils.ViewUtils;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.network.utils.Util;
import java.util.ArrayList;
import java.util.Arrays;
@@ -58,8 +59,8 @@ public class V2XWarningMarker implements IV2XMarker {
/*
* 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 = new MogoLatLng(0,0);
private static long showTime = 5000;
private MogoLatLng middleLocationInStopLine = new MogoLatLng(0, 0);
private static long showTime = 6000;
private float bearing;
@Override
@@ -75,40 +76,38 @@ public class V2XWarningMarker implements IV2XMarker {
}
public void drawLineWithEntity() {
showTime = mCloundWarningInfo.getShowTime() > 0 ? mCloundWarningInfo.getShowTime()*1000 : 5000;
Log.d(TAG, "显示时间为++" + String.valueOf(showTime)+"识别物类型:"+String.valueOf(mCloundWarningInfo.getType()));
pointsBetween();
showTime = mCloundWarningInfo.getShowTime() > 0 ? mCloundWarningInfo.getShowTime() * 1000 : 6000;
Log.d(TAG, "显示时间为++" + String.valueOf(showTime) + "识别物类型:" +
String.valueOf(mCloundWarningInfo.getType()));
fillPointOnStopLine();
bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();
isSelfLineClear = false;
isFirstLocation = false;
V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
if (fillPoints.size() > 0) { //存在停止线的情况 TODO
if (fillPoints.size() > 0) {
//存在停止线的情况 自车与停止线之间绘制蓝色安全线 停止线向前50m绘制红色预警线
//先获取自车与停止线之间的点
middleLocationInStopLine = getMiddleLocationInStopLine();
//如果是正前方类型,红色绘制区域从停止线向前绘制50米
MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine, 50, mCloundWarningInfo.getAngle());
MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine,
50, mCloundWarningInfo.getAngle());
//停止线前方画线
WorkThreadHandler.getInstance().postDelayed(() -> {
if (carLocation.lat != 0 && carLocation.lon != 0) {
//自车与停止线直线绘制蓝色预警线
drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
} else {
Log.d(TAG, "自车定位数据为空carLocation == null");
}
//二轮车和行人的渲染和移动
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
//停止线向前方50m绘制红色预警线
drawRedWarningLineFrontOfStopLine(mCloundWarningInfo, middleLocationInStopLine,
warningLocation);
V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo);
//绘制识别物与交汇点连线，并且更新连线数据
drawRedWarningLineFrontOfStopLine(mCloundWarningInfo, middleLocationInStopLine, warningLocation);
//添加停止线marker
handleStopLine();
if (carLocation.lat != 0 && carLocation.lon != 0){
//自车画线
drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
}else {
Log.d(TAG,"自车定位数据为空carLocation == null");
}
}, 0);
UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoStopPolylineManager().clearLine();
isSelfLineClear = true;
}, showTime);
clearAllLine();
} else { //无停止线
WorkThreadHandler.getInstance().postDelayed(() -> {
@@ -116,39 +115,33 @@ public class V2XWarningMarker implements IV2XMarker {
drawOtherObjectLine(mCloundWarningInfo);
//二轮车和行人的渲染和移动
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo);
//车辆静止的时候
if (carLocation.lat != 0 && carLocation.lon != 0){
if (carLocation.lat != 0 && carLocation.lon != 0) {
drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
}else {
Log.d(TAG,"数据为空carLocation == null");
} else {
Log.d(TAG, "数据为空carLocation == null");
}
V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo);
}, 0);
//延迟3秒清理线
UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
isSelfLineClear = true;
}, showTime);
clearAllLine();
}
//预警蒙层
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection
(mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
}
/**
* 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 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(TAG, "红色区域起始点 = " + startLatLng.lon + "," + startLatLng.lat +
float distance = CoordinateUtils.calculateLineDistance(startLatLng.lon, startLatLng.lat,
endLatlng.lon, endLatlng.lat);
MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng, distance / 2,
mCloundWarningInfo.getAngle());
Log.d(TAG, "停止线前方50m区域的三个坐标点是:" + startLatLng.lon + "," + startLatLng.lat +
"中间点坐标:" + addMiddleLoc.lon + "," + addMiddleLoc.lat
+ "终点" + endLatlng.lon + "," + endLatlng.lat);
if (polyLine != null) {
@@ -167,16 +160,33 @@ public class V2XWarningMarker implements IV2XMarker {
lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
V2XServiceManager.getMoGoStopPolylineManager().drawStopPolyline(getContext(), lineInfo);
}
clearAllLine();
} else {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoStopPolylineManager().clearLine();
clearAllLine();
}
}
public void clearAllLine() {
UiThreadHandler.postDelayed(() -> {
Log.d(TAG, "清除所有预警线的时间是:" + String.valueOf(System.currentTimeMillis()));
//清除识别物到碰撞点预警线
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
//清除车到碰撞点预警线
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
//清除停止线
V2XServiceManager.getMoGoStopPolylineManager().clearLine();
//清除小箭头
V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
//清除停止线
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
isSelfLineClear = true;
}, showTime);
}
/**
* 补点后的停止线经纬度合集
*/
public void pointsBetween() {
public void fillPointOnStopLine() {
try {
fillPoints.clear();
List stopLines = mCloundWarningInfo.getStopLines();
@@ -214,20 +224,19 @@ public class V2XWarningMarker implements IV2XMarker {
entity.setLat(latLng.lat);
entity.setLon(latLng.lon);
entity.heading = mCloundWarningInfo.heading;
Log.d(TAG, "绘制停止线+time=" + String.valueOf(System.currentTimeMillis()));
V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
}
clearAllLine();
}
//移动完成以后，3s后消失
UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
}, mCloundWarningInfo.getShowTime());
} catch (Exception e) {
e.printStackTrace();
}
}
private MogoLatLng getMogoLat(MogoLatLng latlng) {
MogoLatLng newLocation = Trigonometric.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
MogoLatLng newLocation = Trigonometric.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(),
mCloundWarningInfo.getAngle());
return newLocation;
}
@@ -235,37 +244,44 @@ public class V2XWarningMarker implements IV2XMarker {
* 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 getMiddleLocationInStopLine() {
Log.d(TAG, "计算停止线上的某个点" + String.valueOf(carLocation.lat + "," + String.valueOf(carLocation.lon)));
Log.d(TAG, "计算停止线上的某个点" + String.valueOf(carLocation.lat + "," +
String.valueOf(carLocation.lon)));
if (carLocation.lat == 0 || carLocation.lon == 0) {
Log.d(TAG, "获取不到车的位置");
}
MogoLatLng newLocation = Trigonometric.getNewLocation(carLocation, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
MogoLatLng newLocation = Trigonometric.getNewLocation(carLocation, mCloundWarningInfo.getStopLineDistance(),
mCloundWarningInfo.getAngle());
return newLocation;
}
/**
* 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() == ALERT_THE_FRONT_CRASH_WARNING_TOP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)
* 自车与停止线之间为蓝色预警
* lon 自车经度
* lat 自车纬度
*/
public void drawSelfCarLine(double lon, double lat, float bearing) {
if (!isSelfLineClear) {
IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
if (mCloundWarningInfo != null) {
MogoLatLng startLatlng = new MogoLatLng(0,0);
MogoLatLng endLatlng = new MogoLatLng(0,0);
MogoLatLng addMiddleLoc = new MogoLatLng(0,0);
MogoLatLng startLatlng = new MogoLatLng(0, 0);
MogoLatLng endLatlng = new MogoLatLng(0, 0);
MogoLatLng addMiddleLoc = new MogoLatLng(0, 0);
if (!isFirstLocation) {
carLocation = getMogoLat(new MogoLatLng(lat, lon));
isFirstLocation = true;
}
//绘制线的终点(在停止线上或者预碰撞点上)
endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
endLatlng = new MogoLatLng(mCloundWarningInfo.getStopLines().size() > 0 ?
middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ?
middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
//自车位置
startLatlng = new MogoLatLng(lat, lon);
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
//扩展点为了渐变色添加
addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, Trigonometric.getAngle(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.lon + "," + startLatlng.lat +
"中间扩展点" + addMiddleLoc.lon + "," + addMiddleLoc.lat + "终点:" + endLatlng.lon + "," + endLatlng.lat);
@@ -274,7 +290,7 @@ public class V2XWarningMarker implements IV2XMarker {
mogoPolyline.setTransparency(0.5f);
} else {
DrawLineInfo info = new DrawLineInfo(); // 对象
Log.d(TAG, "安全区域的画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
Log.d(TAG, "安全区域蓝色预警线" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
List locations = new ArrayList();
locations.add(startLatlng);
locations.add(addMiddleLoc);
@@ -283,10 +299,12 @@ public class V2XWarningMarker implements IV2XMarker {
info.setHeading(bearing);
info.setWidth(mCloundWarningInfo.getRoadwidth() * 14 + 5);
info.setDirection(mCloundWarningInfo.getDirection());
Log.d(TAG, "绘制自车与碰撞点之间的预警线+time=" + String.valueOf(System.currentTimeMillis()));
V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
}
clearAllLine();
} else {
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
clearAllLine();
}
}
}
@@ -307,6 +325,8 @@ public class V2XWarningMarker implements IV2XMarker {
polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
polyLine.setTransparency(0.5f);
} else {
//识别物到预碰撞点之间的箭头
addArrows(startLatlng, endLatlng);
DrawLineInfo lineInfo = new DrawLineInfo();
Log.d(TAG, "目标物与预碰撞点画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
List locations = new ArrayList();
@@ -318,12 +338,10 @@ public class V2XWarningMarker implements IV2XMarker {
Log.d(V2XConst.LOG_NAME_WARN, "drawOtherObjectLine width = " + info.getRoadwidth());
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");
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
clearAllLine();
}
}
@@ -342,41 +360,7 @@ public class V2XWarningMarker implements IV2XMarker {
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);
}
/*
* 2D资源绘制停止线 暂时不需要
* */
private void drawStopLineWith2Resource() {
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);
}
//自车行驶方向的前方*米的经纬度,该经纬度在停止线上
MogoLatLng drawStopLineLon = Trigonometric.getNewLocation(carlo, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
Log.d(TAG, "2D资源绘" + drawStopLineLon);
MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
.latitude(drawStopLineLon.getLat())
.longitude(drawStopLineLon.getLon())
.anchor(1.0f, 1.0f)
.zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH);
optionsRipple
.icon(ViewUtils.fromView(new EmptyMarkerView(V2XServiceManager.getContext())));
IMogoMarker stopLine = V2XServiceManager.getMarkerManager().addMarker(TYPE_MARKER_CLOUD_STOP_LINE_DATA, optionsRipple);
stopLine.setInfoWindowAdapter(new SimpleWindow3DAdapter(new V2XFrontTargetMarkerView(V2XServiceManager.getContext())));
stopLine.showInfoWindow();
UiThreadHandler.postDelayed(() -> {
stopLine.hideInfoWindow();
}, showTime);
}
public void onCarLocationChanged2(Location latLng) {

2
modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_left.json
View File

@@ -16,6 +16,6 @@
"stopLineDistance": 60,
"warningContent": "注意自行车",
"heading": 0,
"showTime": 5000,
"showTime": 6,
"roadwidth": 4.0
}

2
modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json
View File

@@ -24,6 +24,6 @@
"stopLineDistance": 60,
"warningContent": "小心行人",
"heading": 0,
"showTime": 5000,
"showTime": 6,
"roadwidth": 4.0
}

2
modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_right.json
View File

@@ -15,6 +15,6 @@
"stopLineDistance": 60,
"warningContent": "注意摩托车",
"heading": 0,
"showTime": 5000,
"showTime": 6,
"roadwidth": 4.0
}