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

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This commit is contained in:
wujifei
2021-04-13 12:17:31 +08:00
parent 077bd70c1c 6fce9c35e4
commit 4bc8afccd9
19 changed files with 179 additions and 149 deletions
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75
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
View File

@@ -47,6 +47,10 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
private static String TAG = "MoGoV2XCloundDataManager";
private boolean isSelfLineClear;
private List fillPoints = new ArrayList();//停止线经纬度合集
private boolean isFirstLocation = false;
private MogoLatLng mNewLocation;
private static long showTime = 0;
@Override
public void init(Context context) {
@@ -57,34 +61,35 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
@Override
public void analysisV2XCloundDataEvent(V2XWarningEntity cloundWarningInfo) {
Log.d(V2XConst.LOG_NAME_WARN, "analysisV2XCloundDataEvent -----> ");
mCloundWarningInfo = cloundWarningInfo;
showTime = mCloundWarningInfo.getShowTime();
pointsBetween();
//发送预警提示
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getType(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
isSelfLineClear = false;
isFirstLocation = false;
Log.d(V2XConst.LOG_NAME_WARN, "direction = " + cloundWarningInfo.getDirection());
if (cloundWarningInfo.getDirection() == 1) { //前方
//停止线前方画线
MogoLatLng newLocation = LocationUtils.getNewLocation((MogoLatLng) fillPoints.get(0), 80, cloundWarningInfo.getAngle());
//停止线前方画线
WorkThreadHandler.getInstance().postDelayed(() -> {
//添加停止线marker
//添加停止线
drawStopLineWith2Resource();
//二轮车和行人的渲染和移动
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, newLocation);
}, 200);
//添加停止线marker
handleStopLine();
}, 800);
UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoStopPolylineManager().clearLine();
isSelfLineClear = true;
}, 8000);
}, showTime);
} else { //左侧或者右侧
WorkThreadHandler.getInstance().postDelayed(() -> {
@@ -92,17 +97,15 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
drawOtherObjectLine(cloundWarningInfo);
//二轮车和行人的渲染和移动
V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
}, 200);
}, 500);
//延迟3秒清理线
UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
isSelfLineClear = true;
}, 8000);
}, showTime);
}
}
@@ -110,7 +113,6 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
for (int i = 0; i < fillPoints.size(); i++) {
V2XWarningEntity entity = new V2XWarningEntity();
MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
Log.d("liyz", "handleStopLine lat = " + latLng.lat + "--lon =" + latLng.lon);
entity.setLat(latLng.lat);
entity.setLon(latLng.lon);
entity.setCollisionLat(mCloundWarningInfo.getCollisionLat());
@@ -124,10 +126,6 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
* 2D资源绘制停止线
* */
private void drawStopLineWith2Resource() {
//自车位置39.97665425796924--116.41769983329762
mCloundWarningInfo.setCarLocation(new MogoLatLng(39.97665425796924,116.41769983329762));//测试数据
MogoLatLng carlo = mCloundWarningInfo.getCarLocation();
if (carlo == null) {
double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon();
@@ -136,11 +134,11 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
}
//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 = LocationUtils.getNewLocation(carlo, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
Log.d(TAG, "2D资源绘制停止线"+drawStopLineLon);
Log.d(TAG, "2D资源绘制停止线" + drawStopLineLon);
MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
.latitude(drawStopLineLon.getLat())
.longitude(drawStopLineLon.getLon())
.anchor(0.5f, 0.5f)
.anchor(1.0f, 1.0f)
.zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH);
optionsRipple
@@ -148,9 +146,9 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
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();
// }, 8000);
UiThreadHandler.postDelayed(() -> {
stopLine.hideInfoWindow();
}, showTime);
}
/**
@@ -161,20 +159,15 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
if (info != null) {
if (polyLine != null) {
Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine polyLine != null");
polyLine.setPoints(Arrays.asList(new MogoLatLng(info.getLat(), info.getLon()),
new MogoLatLng(info.getCollisionLat(), info.getCollisionLon())));
polyLine.setPoints(Arrays.asList(new MogoLatLng(mNewLocation.lat, mNewLocation.lon),
new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon)));
polyLine.setTransparency(0.5f);
} else {
Log.e(V2XConst.LOG_NAME_WARN, "drawStopLine polyLine == null");
DrawLineInfo lineInfo = new DrawLineInfo();
MogoLatLng startLatlng = new MogoLatLng(
((MogoLatLng) fillPoints.get(0)).lat,
((MogoLatLng) fillPoints.get(0)).lon);
Log.d(V2XConst.LOG_NAME_WARN, "stop drawStopLine lon =" + startLatlng.lon + "--lat =" + startLatlng.lat);
MogoLatLng startLatlng = new MogoLatLng(mNewLocation.lat, mNewLocation.lon);
MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon);
Log.d(V2XConst.LOG_NAME_WARN, " drawStopLine lon =" + mogoLatLng.lon + "--lat =" + mogoLatLng.lat);
Log.d(V2XConst.LOG_NAME_WARN, " drawStopLine lon =" + endLatlng.lon + "--lat =" + endLatlng.lat);
Log.d(V2XConst.LOG_NAME_WARN, " drawStopLine endLatlng lon =" + endLatlng.lon + "--lat =" + endLatlng.lat
+ "--startLatlng lon = " + startLatlng.lon + "-lat = " + startLatlng.lat);
lineInfo.setStartLocation(startLatlng);
lineInfo.setEndLocation(endLatlng);
lineInfo.setHeading(info.heading);
@@ -201,7 +194,6 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
new MogoLatLng(info.getCollisionLat(), info.getCollisionLon())));
polyLine.setTransparency(0.5f);
} else {
Log.e(V2XConst.LOG_NAME_WARN, "polyLine == null");
DrawLineInfo lineInfo = new DrawLineInfo();
MogoLatLng startLatlng = new MogoLatLng(info.getLat(), info.getLon());
MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon());
@@ -228,7 +220,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
*/
@Override
public void onCarLocationChanged2(Location latLng) {
Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude() + "---isSelfLineClear = " + isSelfLineClear);
// Log.d(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude() + "---isSelfLineClear = " + isSelfLineClear);
//当行人经纬度交点 开始画线，否则清理
mCloundWarningInfo.setCarLocation(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
drawSlefCarLine(latLng);
@@ -246,17 +238,22 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
if (!isSelfLineClear) {
IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
if (mCloundWarningInfo != null) {
if (!isFirstLocation) {
mNewLocation = getMogoLat(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
Log.d(V2XConst.LOG_NAME_WARN, "drawSlefCarLine lon = " + mNewLocation.lon + "---lat = " + mNewLocation.lat);
isFirstLocation = true;
}
if (mogoPolyline != null) {
mogoPolyline.setPoints(Arrays.asList(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()),
new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? mCloundWarningInfo.getStopLines().get(0).lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == 1 ? mCloundWarningInfo.getStopLines().get(0).lon : mCloundWarningInfo.getCollisionLon())));
new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? mNewLocation.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == 1 ? mNewLocation.lon : mCloundWarningInfo.getCollisionLon())));
mogoPolyline.setTransparency(0.5f);
} else {
Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 mogoPolyline == null width = " + mCloundWarningInfo.getRoadwidth());
// Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 mogoPolyline == null width = " + mCloundWarningInfo.getRoadwidth());
DrawLineInfo info = new DrawLineInfo(); // 对象
MogoLatLng startLatlng = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
MogoLatLng endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? mCloundWarningInfo.getStopLines().get(0).lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == 1 ? mCloundWarningInfo.getStopLines().get(0).lon : mCloundWarningInfo.getCollisionLon());
MogoLatLng endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? mNewLocation.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == 1 ? mNewLocation.lon : mCloundWarningInfo.getCollisionLon());
info.setHeading(latLng.getBearing());
info.setStartLocation(startLatlng);
info.setEndLocation(endLatlng);
@@ -297,12 +294,10 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
} catch (Exception e) {
e.printStackTrace();
}
}
private MogoLatLng getMogoLat(MogoLatLng latlng) {
MogoLatLng newLocation = LocationUtils.getNewLocation(latlng, mCloundWarningInfo.getDistance(), mCloundWarningInfo.getDirection());
return newLocation;
}

4
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
View File

@@ -24,6 +24,7 @@ import com.mogo.module.v2x.marker.OptimalSpeedMarkerView;
import com.mogo.module.v2x.marker.V2XFrontTargetMarkerView;
import com.mogo.module.v2x.scenario.view.IV2XMarker;
import com.mogo.module.v2x.utils.LocationUtils;
import com.mogo.utils.UiThreadHandler;
import com.mogo.utils.ViewUtils;
import com.mogo.utils.WorkThreadHandler;
@@ -65,6 +66,9 @@ public class V2XWarningMarker implements IV2XMarker {
optimalMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_FRONT_WARNING_MARKER, optionsRipple);
optimalMarker.setInfoWindowAdapter(new SimpleWindow3DAdapter(new V2XFrontTargetMarkerView(mContext)));
optimalMarker.showInfoWindow();
UiThreadHandler.postDelayed(() -> {
optimalMarker.hideInfoWindow();
}, 8000);
} catch (Exception e) {

2
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java
View File

@@ -430,7 +430,7 @@ public class TestOnLineCarUtils {
try {
InputStream inputStream = V2XUtils.getApp()
.getResources()
.openRawResource(R.raw.scenario_push_vr_event_data_yongdu_gongsi);
.openRawResource(R.raw.scenario_push_vr_event_data_yongdu_gongsi_1);
ByteArrayOutputStream baos = new ByteArrayOutputStream();
int len = -1;
byte[] buffer = new byte[1024];