diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XSocketManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XSocketManager.java index f23bfae76f..0bfa95e762 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XSocketManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XSocketManager.java @@ -9,7 +9,7 @@ import com.mogo.module.v2x.listener.V2XMessageListener_401009; import com.mogo.module.v2x.listener.V2XMessageListener_401010; import com.mogo.module.v2x.listener.V2XMessageListener_401011; import com.mogo.module.v2x.listener.V2XMessageListener_401012; -import com.mogo.module.v2x.listener.V2XMessageListener_401020; +import com.mogo.module.v2x.listener.V2XMessageListener_402000; import com.mogo.utils.logger.Logger; import static com.mogo.module.v2x.V2XConst.MODULE_NAME; @@ -33,7 +33,7 @@ public class V2XSocketManager { private V2XMessageListener_401007 v2XMessageListener_401007; private V2XMessageListener_401009 v2XMessageListener_401009; private V2XMessageListener_401010 v2XMessageListener_401010; - private V2XMessageListener_401020 mV2XMessageListener_401020; + private V2XMessageListener_402000 mV2XMessageListener_402000; private V2XSocketManager() { @@ -112,10 +112,10 @@ public class V2XSocketManager { .getMoGoSocketManager() .unregisterOnMessageListener(401009, v2XMessageListener_401009); } - if (mV2XMessageListener_401020 != null) { + if (mV2XMessageListener_402000 != null) { V2XServiceManager .getMoGoSocketManager() - .unregisterOnMessageListener(401019, mV2XMessageListener_401020); + .unregisterOnMessageListener(401019, mV2XMessageListener_402000); } } @@ -231,13 +231,13 @@ public class V2XSocketManager { * * 最优路线推荐 */ public void register401020() { - mV2XMessageListener_401020 = new V2XMessageListener_401020(); + mV2XMessageListener_402000 = new V2XMessageListener_402000(); // 道路事件，在线车辆绘制 V2XServiceManager .getMoGoSocketManager() .registerOnMessageListener( - 401020, - mV2XMessageListener_401020 + 402000, + mV2XMessageListener_402000 ); } diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_401020.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_402000.java similarity index 93% rename from modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_401020.java rename to modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_402000.java index 102006ad47..438abb85fa 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_401020.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_402000.java @@ -21,7 +21,7 @@ import static com.mogo.module.v2x.V2XConst.MODULE_NAME; * @description 车路云—场景预警-云下发数据监听 最优路线推荐 * @since: 2021/4/13 */ -public class V2XMessageListener_401020 implements IMogoOnMessageListener { +public class V2XMessageListener_402000 implements IMogoOnMessageListener { @Override public Class target() { return V2XOptimalRouteDataRes.class; @@ -29,7 +29,7 @@ public class V2XMessageListener_401020 implements IMogoOnMessageListener { - //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 - drawRedWarningLineFrontOfStopLine(cloundWarningInfo, middleLocationInStopLine, warningLocation); - //添加停止线marker - handleStopLine(); - //自车画线 - drawSelfCarLine(carLocation.lon, carLocation.lat, bearing); - }, 500); - - UiThreadHandler.postDelayed(() -> { - V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); - V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); - V2XServiceManager.getMoGoStopPolylineManager().clearLine(); - isSelfLineClear = true; - }, showTime); - - } else { //左侧或者右侧 - WorkThreadHandler.getInstance().postDelayed(() -> { - //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 - drawSelfCarLine(carLocation.lon, carLocation.lat, bearing); - - }, 500); - - //延迟3秒清理线 - UiThreadHandler.postDelayed(() -> { - V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); - V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); - isSelfLineClear = true; - }, showTime); - } + //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.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING); + isSelfLineClear = false; + isFirstLocation = false; + V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS); + if (cloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP) { //前方 TODO + middleLocationInStopLine = getMiddleLocationInStopLine(); + MogoLatLng warningLocation = new MogoLatLng(cloundWarningInfo.getLat(),cloundWarningInfo.getLon()); + //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 + drawRedWarningLineFrontOfStopLine(cloundWarningInfo, middleLocationInStopLine, warningLocation); + //添加停止线marker + handleStopLine(); + //自车画线 + drawSelfCarLine(carLocation.lon, carLocation.lat, bearing); + }, 500); + + UiThreadHandler.postDelayed(() -> { + V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); + V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); + V2XServiceManager.getMoGoStopPolylineManager().clearLine(); + isSelfLineClear = true; + }, showTime); + + } else { //左侧或者右侧 + WorkThreadHandler.getInstance().postDelayed(() -> { + //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 + drawSelfCarLine(carLocation.lon, carLocation.lat, bearing); + + }, 500); + + //延迟3秒清理线 + UiThreadHandler.postDelayed(() -> { + V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); + V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); + isSelfLineClear = true; + }, showTime); + } + } // } @@ -149,12 +149,13 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog 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()); //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)); 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); @@ -193,8 +194,6 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog 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); } diff --git a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_left.json b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_left.json index 8d2ce4f244..2b9d20fc69 100644 --- a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_left.json +++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_left.json @@ -1,10 +1,10 @@ { "type": 1, - "lat": 26.879390180525974, - "lon": 112.56927332599024, + "lat": 26.8826301, + "lon": 112.5634948, "distance": 2, - "collisionLat": 26.879413602631494, - "collisionLon": 112.56942224899758, + "collisionLat": 26.88271105, + "collisionLon": 112.5636347, "stopLines": [ { "lat": 26.88008312, diff --git a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_right.json b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_right.json index dce0de347d..15712b6e59 100644 --- a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_right.json +++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_right.json @@ -1,18 +1,18 @@ { "type": 2, - "lat": 26.879413602631494, - "lon": 112.56942224899758, + "lat": 26.88241239, + "lon": 112.5631241, "distance": 2, - "collisionLat": 26.879393211872856, - "collisionLon": 112.56917110603266, + "collisionLat": 26.88241239, + "collisionLon": 112.5631241, "stopLines": [ { - "lat": 26.88008312, - "lon": 112.57147295 + "lat": 26.88241239, + "lon": 112.5631241 }, { - "lat": 26.88008302, - "lon": 112.57147295 + "lat": 26.88241239, + "lon": 112.5631241 } ], "from": 1,