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

2021-03-30 16:02:05 +08:00
parent 4e78853d0e d37a77602b
commit 49a7002709
13 changed files with 313 additions and 164 deletions
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -8,7 +8,7 @@
    <asm skipDebug="false" skipFrames="false" skipCode="false" expandFrames="false" />
    <groovy codeStyle="LEGACY" />
  </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="false" project-jdk-name="12" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="true" project-jdk-name="12" project-jdk-type="JavaSDK">
    <output url="file://$PROJECT_DIR$/build/classes" />
  </component>
 </project>
--- 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-8.4.6'
+    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.4.7'
 //    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
 }

--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
@@ -1044,7 +1044,7 @@ public class AMapViewWrapper implements IMogoMapView,
    }

    Map<String, RoadCacheWrapper> roadCacheMap = new ConcurrentHashMap<>();
-    private RoadCacheWrapper noCache = new RoadCacheWrapper(null);
+    private final RoadCacheWrapper noCache = new RoadCacheWrapper(null);

    @Override
    public void clearRoadCacheById(String id) {
@@ -1056,21 +1056,32 @@ public class AMapViewWrapper implements IMogoMapView,
        return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK, true);
    }

-    int[] colors = new int[]{Color.RED, Color.GREEN, Color.BLUE};
-    int colorIndex = 0;
+    /**
+     * 带缓存的道路匹配算法
+     *
+     * 使用{@link MapDataApi#INSTANCE#getSinglePointMatchRoad()}这个方法获取道路数据会存在一定耗时，目前是4-10ms，因为请求频繁，为了
+     * 减小这部分耗时，使用一个ConcurrentHashMap{@link #roadCacheMap}缓存道路数据，此缓存是以目标车id为key，道路数据为value，以此减少
+     * 道路数据获取次数。
+     *
+     * 当出现道路改变的情况，需要重新获取道路数据，采用递归的方式重获道路数据以及添加缓存，为了避免一直获取不到道路数据，一直递归，增加useCache参数跳出递归。
+     *
+     * 道路改变的情况主要分为：
+     *  1. 目标车距离道路中心线距离超过阈值 matchThreshold（取路宽的1/4为阈值）；
+     *  2. 目标车到道路中心线的映射点不在道路上（此判断在{@link PointInterpolatorUtil#mergeToRoad(double, double, List)}），也就是说已经驶出了这条道路
+     *
+     * @param id 目标车唯一标识
+     * @param lon 目标车经度
+     * @param lat 目标车纬度
+     * @param angle 目标车角度
+     * @param isGpsLocation true-使用gps定位数据
+     * @param isRTK true-使用rtk数据
+     * @param usdCache true-使用道路缓存 false-不使用道路缓存
+     * @return double[]{匹配后经度，匹配后纬度，目标车距离车道中心线距离}，若匹配后经纬度值为-1，则没有匹配成功
+     */
    private double[] matchRoad(String id, double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK, boolean usdCache) {
-        double wgs[] = new double[]{lon, lat};
+        double[] wgs = new double[]{lon, lat};
        long start = System.currentTimeMillis();

-//
-
-//        SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(((float) wgs[0]), ((float) wgs[1]), ((float) angle), isGpsLocation, isRTK);
-//        if ( singlePointRoadInfo == null || singlePointRoadInfo.getCoords() == null || singlePointRoadInfo.getCoords().isEmpty() ) {
-//            return null;
-//        }
-//        double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], singlePointRoadInfo.getCoords());
-//        return matchedPoint;
-
        RoadCacheWrapper roadCache = roadCacheMap.get(id);
        double matchThreshold = -1;
        if (roadCache == null||roadCache == noCache) {
@@ -1079,6 +1090,7 @@ public class AMapViewWrapper implements IMogoMapView,
                Log.i("timer-matchRoad-4", "cost " + (System.currentTimeMillis() - start) + "ms  roadId: " + singlePointRoadInfo.getRoadId());
                roadCache = new RoadCacheWrapper(singlePointRoadInfo.getCoords());
                roadCache.setLaneWidth(singlePointRoadInfo.getLaneWidth());
+                // 在地图上画点的测试方法
 //                try {
 //                    PolylineOptions options = new PolylineOptions(  );
 //                    options.setColor( colors[colorIndex++] );
@@ -1105,22 +1117,22 @@ public class AMapViewWrapper implements IMogoMapView,
        if (roadCache != null
                && roadCache.getRoad() != null
                && !roadCache.getRoad().isEmpty()) {
+            // 未获取到道路中心线数据
            start = System.currentTimeMillis();
            matchThreshold = roadCache.getLaneWidth() / 4;

-            double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], roadCache.getRoad());
+            double[] matchedPoint = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], roadCache.getRoad());
            if (matchThreshold>0&&matchedPoint[2] > 0 && matchedPoint[2] <= matchThreshold) {
-//                if (roadCache.inCache(matchedPoint[0], matchedPoint[1])) {
+                // 目标车在阈值范围内
                roadCacheMap.put(id, roadCache);
                Log.i("timer-matchRoad-3", "cost " + (System.currentTimeMillis() - start) + "ms");
                return matchedPoint;
-//                }
-//                roadCacheMap.put(id, null);
 //                Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms  roadId: "+roadCache.getLastLat());
-//                return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK,false);
            } else if (matchedPoint[2] > matchThreshold && matchedPoint[2] < 1.5) {
+                // 目标车在阈值范围外，也就是说距离道路中心线太远了，就不吸附了
                return null;
            } else {
+                // 目标车到道路中心线的映射点不在道路上，也就是已经使出了缓存的那条道路，需要重新获取一条道路，用useCache这个参数来避免重复递归
                roadCacheMap.put(id, noCache);
                Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms  roadId: " + roadCache.getLastLat());
                if (usdCache) {
@@ -1128,7 +1140,6 @@ public class AMapViewWrapper implements IMogoMapView,
                } else {
                    return null;
                }
-//                return null;
            }
        }
        roadCacheMap.put(id, noCache);
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java
@@ -1,14 +1,10 @@
 package com.mogo.map.impl.custom.utils;

-import android.util.Log;
-
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.map.MogoLatLng;
 import com.mogo.utils.logger.Logger;
 import com.zhidaoauto.map.sdk.open.query.LonLatPoint;

-import java.text.NumberFormat;
-import java.util.ArrayList;
 import java.util.List;

 /**
@@ -35,22 +31,22 @@ public class PointInterpolatorUtil {
     * @deprecated 这个方法有问题，并不能算出来想要的值
     */
    @Deprecated
-    public static void interpolate( List< MogoLatLng > points ) {
-        if ( points.size() >= 2 ) {
+    public static void interpolate(List<MogoLatLng> points) {
+        if (points.size() >= 2) {
            // 插值
-            for ( int i = 0; i < points.size() - 1; i++ ) {
-                MogoLatLng current = points.get( i );
-                MogoLatLng next = points.get( i + 1 );
-                float distance = CoordinateUtils.calculateLineDistance( current.lon, current.lat, next.lon, next.lat );
-                Logger.d( TAG, i + ": " + distance );
-                if ( distance > DISTANCE_THRESHOLD ) {
-                    int inter = ( int ) ( distance / DISTANCE_THRESHOLD ) + 1;
-                    for ( int j = 1; j < inter; j++ ) {
-                        double newLat = current.lat + ( next.lat - current.lat ) * j / inter;
-                        double newLon = current.lon + ( next.lon - current.lon ) * j / inter;
-                        Logger.d( TAG, "distance: " + distance + ", j: " + j + ", nextLat: " + next.lat + ", nextLon: " + next.lon + ", newLat: " + newLat + ", newLon: " + newLon );
-                        points.add( i + 1, new MogoLatLng( newLat, newLon ) );
-                        current = points.get( ++i );
+            for (int i = 0; i < points.size() - 1; i++) {
+                MogoLatLng current = points.get(i);
+                MogoLatLng next = points.get(i + 1);
+                float distance = CoordinateUtils.calculateLineDistance(current.lon, current.lat, next.lon, next.lat);
+                Logger.d(TAG, i + ": " + distance);
+                if (distance > DISTANCE_THRESHOLD) {
+                    int inter = (int) (distance / DISTANCE_THRESHOLD) + 1;
+                    for (int j = 1; j < inter; j++) {
+                        double newLat = current.lat + (next.lat - current.lat) * j / inter;
+                        double newLon = current.lon + (next.lon - current.lon) * j / inter;
+                        Logger.d(TAG, "distance: " + distance + ", j: " + j + ", nextLat: " + next.lat + ", nextLon: " + next.lon + ", newLat: " + newLat + ", newLon: " + newLon);
+                        points.add(i + 1, new MogoLatLng(newLat, newLon));
+                        current = points.get(++i);
                    }
                }
            }
@@ -58,77 +54,67 @@ public class PointInterpolatorUtil {
        }
    }

-    public static double[] mergeToRoad( double lon, double lat, List< LonLatPoint > road ) {
+    /**
+     * 道路吸附算法
+     * <p>
+     * 所谓的道路数据，实际就是道路对应的点集，每两个点之间是直线，但是两点间距并不固定，点集内点的数量也不固定，点集是有序的，按道路方向排序，road[0]是起点。
+     * 为了避免拐弯道路的问题，先使用{@link #getCloseTwoPoint(int, int, double, double, List)}从道路数据里面找出距离目标点最近的两个点，记为A、B，最近的两个点就在目标点一前一后排列，
+     * 这样的话，求一下目标点到AB的垂直映射以及距离{@link #getFootAndMinDistance(double, double, double, double, double, double)}，就是吸附后的经纬度和距离
+     *
+     * @param lon  目标经度
+     * @param lat  目标纬度
+     * @param road 目标道路数据
+     * @return double[]{吸附后的经度，吸附后的纬度，目标经纬度距离道路的垂直距离}
+     */
+    public static double[] mergeToRoad(double lon, double lat, List<LonLatPoint> road) {
        int closeStart = 0;
        int closeEnd = road.size() - 1;
-        int[] result = getCloseTwoPoint(closeStart,closeEnd, lon, lat, road );
-        LonLatPoint start = road.get( result[0] );
-        LonLatPoint end = road.get( result[1] );
-//        Logger.d( TAG, "mergeToRoad  start: " + closeStart + " end: " + closeEnd );
-//        return getMid(start, end);
-//        double[] foot = getFoot( lon, lat, start, end );
-
-//        float d = CoordinateUtils.calculateLineDistance( foot[0], foot[1], lon, lat );
-//        Logger.d( TAG, "distance to mid line==" + d );
-//        return new double[]{foot[0], foot[1], d};
-
+        int[] result = getCloseTwoPoint(closeStart, closeEnd, lon, lat, road);
+        LonLatPoint start = road.get(result[0]);
+        LonLatPoint end = road.get(result[1]);
        return getFootAndMinDistance(lon, lat, start.getLongitude(), start.getLatitude(), end.getLongitude(), end.getLatitude());
    }

-    private static int[] getCloseTwoPoint(int closeStart,int closeEnd, double lon, double lat, List< LonLatPoint > road ) {
-        if ( closeEnd - closeStart == 1 ) {
-            return new int[]{closeStart,closeEnd};
+    /**
+     * 获取距离目标点经纬度最近的道路点index
+     * <p>
+     * 采用二分查找思想，先用道路数据的起点和终点分别计算距离目标点的距离：
+     * 若起点距离较远，则说明目标点在整条道路的后半段，则将起点后移至原起点和终点的中间，继续递归计算；
+     * 同理，若终点距离较远，则目标点在前半段，则终点前移，继续递归计算；
+     * 递归结束条件是起点index和终点index间隔是1；
+     *
+     * @param closeStart 距离目标点最近的起始点index
+     * @param closeEnd   距离目标点最近的终点index
+     * @param lon        目标点经度
+     * @param lat        目标点纬度
+     * @param road       目标道路
+     * @return int[]{距离目标点最近的起始点index,距离目标点最近的终点index}
+     */
+    private static int[] getCloseTwoPoint(int closeStart, int closeEnd, double lon, double lat, List<LonLatPoint> road) {
+        if (closeEnd - closeStart == 1) {
+            return new int[]{closeStart, closeEnd};
        }
-        LonLatPoint start = road.get( closeStart );
-        LonLatPoint end = road.get( closeEnd );
-        float startDistance = CoordinateUtils.calculateLineDistance( start.getLongitude(), start.getLatitude(), lon, lat );
-        float endDistance = CoordinateUtils.calculateLineDistance( end.getLongitude(), end.getLatitude(), lon, lat );
-        if ( startDistance > endDistance ) {
-            closeStart += ( closeEnd - closeStart ) / 2;
+        LonLatPoint start = road.get(closeStart);
+        LonLatPoint end = road.get(closeEnd);
+        float startDistance = CoordinateUtils.calculateLineDistance(start.getLongitude(), start.getLatitude(), lon, lat);
+        float endDistance = CoordinateUtils.calculateLineDistance(end.getLongitude(), end.getLatitude(), lon, lat);
+        if (startDistance > endDistance) {
+            closeStart += (closeEnd - closeStart) / 2;
        } else {
-            closeEnd -= ( closeEnd - closeStart ) / 2;
+            closeEnd -= (closeEnd - closeStart) / 2;
        }
-        return getCloseTwoPoint(closeStart,closeEnd, lon, lat, road );
+        return getCloseTwoPoint(closeStart, closeEnd, lon, lat, road);
    }

-    private static double[] getFoot( double lon, double lat, LonLatPoint beginPt, LonLatPoint endPt ) {
-        double dx = beginPt.getLatitude() - endPt.getLatitude();
-        double dy = beginPt.getLongitude() - endPt.getLongitude();
-
-        double u = ( lat - beginPt.getLatitude() ) * ( beginPt.getLatitude() - endPt.getLatitude() ) +
-                ( lon - beginPt.getLongitude() ) * ( beginPt.getLongitude() - endPt.getLongitude() );
-        u = u / ( dx * dx + dy * dy );
-        return new double[]{beginPt.getLongitude() + u * dy, beginPt.getLatitude() + u * dx};
-    }
-
-
-//    un minDistance(x: Double, y: Double, x1: Double, y1: Double, x2: Double, y2: Double): Double {
-//        val cross = (x2 - x1) * (x - x1) + (y2 - y1) * (y - y1)
-//        println("1.cross:$cross")
-//        if (cross <= 0) {
-//            return Math.sqrt((x - x1) * (x - x1) + (y - y1) * (y - y1))
-//        }
-//        val d2 = (x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1)
-//        println("2.d2:$cross")
-//        if (cross > d2) {
-//            return Math.sqrt((x - x2) * (x - x2) + (y - y2) * (y - y2))
-//        }
-//        val r = cross / d2
-//        val px = x1 + (x2 - x1) * r
-//        val py = y1 + (y2 - y1) * r
-//        println("3.r:$r,px:$px,py:$py")
-//        return Math.sqrt((x - px) * (x - px) + (py - y) * (py - y))
-//    }
-
    /**
     * 计算垂足以及最短距离
     *
-     * @param x target point lon
-     * @param y target point lat
-     * @param x1 start point lon
-     * @param y1 start point lat
-     * @param x2 end point lon
-     * @param y2 end point lat
+     * @param x  target point lon
+     * @param y  target point lat
+     * @param x1 线段起点 lon
+     * @param y1 起点起点 lat
+     * @param x2 线段终点 lon
+     * @param y2 线段终点 lat
     * @return double[]{footLon,footLat,minDistance} if(footLon == -1) => no foot or foot not in line
     */
    private static double[] getFootAndMinDistance(double x, double y, double x1, double y1, double x2, double y2) {
@@ -136,30 +122,17 @@ public class PointInterpolatorUtil {
        double cross = (x2 - x1) * (x - x1) + (y2 - y1) * (y - y1);
        if (cross < 0) {
            // 垂足没有在线段内，所以也无需计算最短距离
-            // result[2] = Math.sqrt((x - x1) * (x - x1) + (y - y1) * (y - y1));
-//            Log.d("getFootAndMinDistance", "垂足不在线段内--1");
            return result;
        }
        double d2 = (x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1);
        if (cross > d2) {
            // 垂足没有在线段内，所以也无需计算最短距离
-            // result[2] = Math.sqrt((x - x2) * (x - x2) + (y - y2) * (y - y2));
-//            Log.d("getFootAndMinDistance", "垂足不在线段内--2");
            return result;
        }
        double r = cross / d2;
        result[0] = x1 + (x2 - x1) * r;
        result[1] = y1 + (y2 - y1) * r;
-//        NumberFormat numberFormat = NumberFormat.getInstance();
-//        numberFormat.setMaximumFractionDigits(4);
-//        String formatNum = numberFormat.format(Math.sqrt((x - result[0]) * (x - result[0]) + (result[1] - y) * (result[1] - y)));
-//        result[2] = Double.parseDouble(formatNum);
        result[2] = CoordinateUtils.calculateLineDistance(result[0], result[1], x, y);
-//        Log.d("getFootAndMinDistance", "计算距离--lon: "+result[0]+"  lat: "+result[1]+"  dis: "+result[2]);
        return result;
    }
-
-    private static double[] getMid( LonLatPoint start, LonLatPoint end ) {
-        return new double[]{( start.getLongitude() + end.getLongitude() ) / 2, ( start.getLatitude() + end.getLatitude() ) / 2};
-    }
 }
--- a/modules/mogo-module-v2x/src/main/AndroidManifest.xml
+++ b/modules/mogo-module-v2x/src/main/AndroidManifest.xml
@@ -9,6 +9,14 @@
                <category android:name="android.intent.category.DEFAULT" />
            </intent-filter>
        </receiver>
+        <!--adas数据-->
+        <receiver android:name=".receiver.AdasDataBroadcastReceiver">
+            <intent-filter>
+                <action android:name="com.v2x.adas_data_broadcast" />
+                <category android:name="android.intent.category.DEFAULT" />
+            </intent-filter>
+        </receiver>
+
        <receiver android:name=".receiver.TestPanelBroadcastReceiver">
            <intent-filter>
                <action android:name="com.v2x.test_panel_control" />
@@ -25,13 +33,6 @@
            </intent-filter>
        </receiver>

-        <!--adas数据-->
-        <receiver android:name=".receiver.AdasDataBroadcastReceiver">
-            <intent-filter>
-                <action android:name="com.v2x.adas_data_broadcast" />
-                <category android:name="android.intent.category.DEFAULT" />
-            </intent-filter>
-        </receiver>
    </application>

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

    /**
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java
@@ -1,6 +1,7 @@
 package com.mogo.module.v2x;

 import android.content.Context;
+import android.util.Log;

 import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.map.MogoLatLng;
@@ -108,8 +109,6 @@ public class V2XServiceManager {
    private static IMoGoV2XStatusManager moGoV2XStatusManager;
    private static IMoGoWarnPolylineManager moGoWarnPolylineManager;

-    List<ADASRecognizedResult> resultList = new ArrayList<>();
-

    private V2XServiceManager() {

@@ -164,34 +163,6 @@ public class V2XServiceManager {
            moGoWarnPolylineManager = (IMoGoWarnPolylineManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_WARN_POLYLINE_MANAGER).navigation(context);

            moGoV2XStatusManager = (IMoGoV2XStatusManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_STATUS_MANAGER).navigation(context);
-
-            List<MogoLatLng> lonLats = new ArrayList<>();
-
-            // adas 每隔一秒传递的他车或行人数据
-            mIMogoADASController.addAdasRecognizedDataCallback(resultList -> {
-                // 绘制近景识别到的车辆，行人和二轮车 TODO
-                AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList );
-
-                //清理
-                V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
-
-                // 绘制连接线 TODO 来的是列表数据
-//                V2XServiceManager.getMoGoWarnPolylineManager().drawableWarnPolyline(context, roadEventEntity);
-
-                //更新数据
-                for (ADASRecognizedResult result : resultList) {
-                    MogoLatLng latLng = new MogoLatLng(result.lat, result.lon);
-                    lonLats.add(latLng);
-                }
-
-                IMogoPolyline mMogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
-                mMogoPolyline.setPoints(lonLats);
-
-            } );
-
-           //绘制自车数据 liyz
-            
-
        }
    }

@@ -342,4 +313,12 @@ public class V2XServiceManager {
    public static IEventPanelProvider getEventPanelProvider() {
        return mIEventPanelProvider;
    }
+
+    public static IMogoADASController getmIMogoADASController() {
+        return mIMogoADASController;
+    }
+
+    public static void setmIMogoADASController(IMogoADASController mIMogoADASController) {
+        V2XServiceManager.mIMogoADASController = mIMogoADASController;
+    }
 }
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
@@ -0,0 +1,151 @@
+package com.mogo.module.v2x;
+
+import android.content.Context;
+import android.util.Log;
+
+import com.mogo.map.MogoLatLng;
+import com.mogo.map.overlay.IMogoPolyline;
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
+import com.mogo.module.v2x.entity.model.DrawLineInfo;
+import com.mogo.module.v2x.listener.V2XMessageListener_401011;
+import com.mogo.realtime.entity.ADASRecognizedResult;
+import com.mogo.utils.logger.Logger;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import static com.mogo.module.v2x.V2XServiceManager.getContext;
+
+/**
+ * desc : V2X报警事件管理，这里进行报警事件的分发处理，包括了adas数据
+ */
+public class V2XWaringManager {
+
+    List<MogoLatLng> lonLats = new ArrayList<>();
+    List<ADASRecognizedResult> resultList = new ArrayList<>();
+    private Context mContext;
+
+    private static V2XWaringManager mV2XWaringManager;
+    //TODO 需要修改
+    private V2XMessageListener_401011 v2XMessageListener_401011;
+
+
+    private V2XWaringManager() {
+    }
+
+    /**
+     * 获取操作实体
+     */
+    public static synchronized V2XWaringManager getInstance() {
+        synchronized (V2XWaringManager.class) {
+            if (mV2XWaringManager == null) {
+                mV2XWaringManager = new V2XWaringManager();
+            }
+        }
+        return mV2XWaringManager;
+    }
+
+    /**
+     * 注册长链接消息处理
+     */
+    public void registerAdasSocketMessage(Context context) {
+        Logger.d("liyz", "开始注册Socket通道....");
+        mContext = context;
+
+        register401011();
+        handleAdasData();
+    }
+
+    /**
+     * 反注册消息通道，不再进行接受
+     */
+    public void unregisterAdasSocketMessage() {
+        Logger.w("liyz", "反注册Socket通道....");
+        if (v2XMessageListener_401011 != null) {
+            V2XServiceManager
+                    .getMoGoSocketManager()
+                    .unregisterOnMessageListener(401011, v2XMessageListener_401011);
+        }
+    }
+
+    /**
+     * 道路事件，行人
+     */
+    private void register401011() {
+        v2XMessageListener_401011 = new V2XMessageListener_401011();
+        // 道路事件，在线车辆绘制
+        V2XServiceManager
+                .getMoGoSocketManager()
+                .registerOnMessageListener(
+                        401011,
+                        v2XMessageListener_401011
+                );
+    }
+
+    public V2XMessageListener_401011 getV2XMessageListener_401011() {
+        return v2XMessageListener_401011;
+    }
+
+
+    /**
+     * 处理adas返回的数据
+     */
+    private void handleAdasData() {
+        Log.d("liyz", "V2XWaringManager ---- handleAdasData ---0-- ");
+        //清理
+        V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+
+        // 绘制连接线 TODO 来的是列表数据
+        DrawLineInfo info1 = new DrawLineInfo();
+        MogoLatLng startLatlng1 = new MogoLatLng(39.968919,116.407642);
+        MogoLatLng endLatlng1 = new MogoLatLng(39.977173,116.417555);
+        info1.setStartLocation(startLatlng1);
+        info1.setEndLocation(endLatlng1);
+        V2XServiceManager.getMoGoWarnPolylineManager().drawableWarnPolyline(getContext(), info1);
+
+
+        // adas 每隔一秒传递的他车或行人数据
+        V2XServiceManager.getmIMogoADASController().addAdasRecognizedDataCallback(resultList -> {
+            // 绘制近景识别到的车辆，行人和二轮车 TODO
+            AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList );
+            Log.d("liyz", "V2XWaringManager ---- handleAdasData ----- ");
+
+            //清理
+            V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+
+            // 绘制连接线 TODO 来的是列表数据
+            DrawLineInfo info = new DrawLineInfo();
+            MogoLatLng startLatlng = new MogoLatLng(39.969247,116.407299);
+            MogoLatLng endLatlng = new MogoLatLng(39.971089,116.407384);
+            info.setStartLocation(startLatlng);
+            info.setEndLocation(endLatlng);
+            V2XServiceManager.getMoGoWarnPolylineManager().drawableWarnPolyline(mContext, info);
+
+            //更新数据
+            for (ADASRecognizedResult result : resultList) {
+                MogoLatLng latLng = new MogoLatLng(result.lat, result.lon);
+                lonLats.add(latLng);
+            }
+            IMogoPolyline mMogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
+            mMogoPolyline.setPoints(lonLats);
+
+        } );
+
+        double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon();
+        double lat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat();
+        Log.d("liyz", "lon = " + lon + "----lat = " + lat);
+
+        //绘制自车数据 liyz
+//        DrawLineInfo info = new DrawLineInfo();
+//        MogoLatLng startLatlng = new MogoLatLng(lat,lon); //我的位置
+//        MogoLatLng endLatlng = new MogoLatLng(39.971089,); //交点位置
+//        info.setStartLocation(startLatlng);
+//        info.setEndLocation(endLatlng);
+//        V2XServiceManager.getMoGoWarnPolylineManager().drawableWarnPolyline(mContext, info);
+
+
+    }
+
+
+}
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
@@ -1,6 +1,7 @@
 package com.mogo.module.v2x.manager.impl;

 import android.content.Context;
+import android.util.Log;

 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.map.MogoLatLng;
@@ -22,7 +23,6 @@ import java.util.List;
 */
@Route(path = MoGoV2XServicePaths.PATH_V2X_WARN_POLYLINE_MANAGER)
 public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
-    private static final String TAG = "MoGoWarnPolylineManager";
    private static IMogoPolyline mMogoPolyline;


@@ -39,25 +39,27 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
            // 渐变色
            List<Integer> colors = new ArrayList<>();

-            if (info.getType().equals("1")) { //预警 TODO
-                colors.add(0xFFFFA31A);
-                colors.add(0xFFFFA31A);
-            } else {
-                colors.add(0xFFE32F46);
-                colors.add(0xFFE32F46);
-            }
+//            if (info.getType().equals("1")) { //预警 TODO
+//                colors.add(0xFFFFA31A);
+//                colors.add(0xFFFFA31A);
+//            } else {
+//                colors.add(0xFFE32F46);
+//                colors.add(0xFFE32F46);
+//            }
+
+            colors.add(0xFF3036);
+            colors.add(0xFF3036);

            // 线条粗细，渐变，渐变色值
-            options.width(30).useGradient(true).colorValues(colors);
-
+            options.width(60).useGradient(true).colorValues(colors);
            // 当前车辆位置
            options.add(info.getStartLocation());
-
            // 目标车辆位置
-            options.add(info.getStartLocation());
+            options.add(info.getEndLocation());

            // 绘制线的对象
            mMogoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(options);
+            Log.d("liyz", "MoGoWarnPolylineManager drawableWarnPolyline -----> ");

        } catch (Exception e) {
            e.printStackTrace();
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/AdasDataBroadcastReceiver.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/AdasDataBroadcastReceiver.java
@@ -3,8 +3,10 @@ package com.mogo.module.v2x.receiver;
 import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
+import android.util.Log;

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

        } catch (Exception e) {
            e.printStackTrace();
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/SceneBroadcastReceiver.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/SceneBroadcastReceiver.java
@@ -3,6 +3,7 @@ package com.mogo.module.v2x.receiver;
 import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
+import android.util.Log;

 import com.mogo.module.v2x.V2XConst;
 import com.mogo.module.common.entity.V2XMessageEntity;
@@ -24,6 +25,7 @@ public class SceneBroadcastReceiver extends BroadcastReceiver {
        try {
            V2XMessageEntity v2XMessageEntity = (V2XMessageEntity) intent.getSerializableExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY);
            //Logger.d(TAG, "v2XMessageEntity:" + GsonUtil.jsonFromObject(v2XMessageEntity));
+            Log.d("liyz", "SceneBroadcastReceiver ------->");
            V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity);
        } catch (Exception e) {
            e.printStackTrace();
--- 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
@@ -66,6 +66,7 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
    private Button mBtnTriggerTrafficSearch;
    private Button mBtnTriggerRecommendRouteEvent;
    private ToggleButton nBtnTriggerVR;
+    private Button mBtnAdasDataWarn;

    private Button btnTriggerRearVIPCarTip,
            btnTriggerVehicleBrakes,
@@ -129,6 +130,7 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
        mBtnTriggerTrafficSearch = findViewById(R.id.btnTriggerTrafficSearch);
        mBtnTriggerRecommendRouteEvent = findViewById(R.id.btnTriggerRecommendRouteEvent);
        nBtnTriggerVR = findViewById(R.id.btnTriggerVR);
+        mBtnAdasDataWarn = findViewById(R.id.btnAdasDataWarn);

        switch (showType) {
            case 0:
@@ -301,6 +303,12 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
            LocalBroadcastManager.getInstance(getContext()).sendBroadcast(intent);
        });

+        mBtnAdasDataWarn.setOnClickListener(v -> {
+            Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
+            intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "23");
+            getContext().sendBroadcast(intent);
+        });
+
        mBtnTriggerTrafficSearch.setOnClickListener(v -> V2XServiceManager.getIMogoTrafficUploadProvider().verifyCurrentTrafficStatus());

        mBtnTriggerRecommendRouteEvent.setOnClickListener(view -> {
--- 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
@@ -461,7 +461,22 @@
                app:layout_constraintBottom_toBottomOf="parent"
                app:layout_constraintStart_toStartOf="parent" />

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

+
    </LinearLayout>
 </RelativeLayout>