Merge branch 'dev2_aiSdk' of http://gitlab.zhidaoauto.com/ecos/yycp-service/Launcher into dev2_aiSdk

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

@@ -67,7 +67,7 @@ public class V2XWaringManager {
     }
 
     /**
-     * TODO 测试数据
+     * 测试数据
      */
     private void testData() {
 
@@ -86,7 +86,6 @@ public class V2XWaringManager {
             // 加载数据源
             V2XWarningEntity warningEntity = GsonUtil.objectFromJson(baos.toString(), V2XWarningEntity.class);
             V2XServiceManager.getMoGoV2XCloundDataManager().analysisV2XCloundDataEvent(warningEntity);
-            Logger.d(V2XConst.LOG_NAME_WARN, "testData -----> ");
         } catch (Exception e) {
             e.printStackTrace();
         }

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java

@@ -16,7 +16,7 @@ import java.util.ArrayList;
 import java.util.List;
 
 /**
- * 当前车辆与道路事件的连接线
+ * 绘制行人和二轮车连线
  */
 @Route(path = MoGoV2XServicePaths.PATH_V2X_PERSON_WARN_POLYLINE_MANAGER)
 public class MoGoPersonWarnPolylineManager implements IMoGoPersonWarnPolylineManager {
@@ -54,9 +54,8 @@ public class MoGoPersonWarnPolylineManager implements IMoGoPersonWarnPolylineMan
             }
 
             // 线条粗细，渐变，渐变色值
-//            Logger.d(V2XConst.LOG_NAME_WARN, "MoGoPersonWarnPolylineManager  roadWidth = " + roadWidth);
-            options.width(60).useGradient(true).colorValues(colors);
-//            options.width(info.getWidth()).useGradient(true).colorValues(colors);
+            Log.d(V2XConst.LOG_NAME_WARN, "MoGoPersonWarnPolylineManager width = " + info.getWidth());
+            options.width(info.getWidth()).useGradient(true).transparency(0.1f).colorValues(colors);
             // 当前车辆位置
             options.add(info.getStartLocation());
             // 目标车辆位置

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

@@ -17,6 +17,7 @@ import com.mogo.module.v2x.V2XServiceManager;
 import com.mogo.module.v2x.entity.model.DrawLineInfo;
 import com.mogo.module.v2x.manager.IMoGoV2XCloundDataManager;
 import com.mogo.utils.UiThreadHandler;
+import com.mogo.utils.WorkThreadHandler;
 import com.mogo.utils.logger.Logger;
 
 import java.util.Arrays;
@@ -29,24 +30,36 @@ import static com.mogo.module.v2x.V2XServiceManager.getContext;
 @Route(path = MoGoV2XServicePaths.PATH_V2X_WARN_CLOUND_DATA_MANAGER)
 public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMogoCarLocationChangedListener2 {
     private V2XWarningEntity mCloundWarningInfo;
+    private static String TAG = "MoGoV2XCloundDataManager";
 
     @Override
     public void init(Context context) {
+        MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
+                .registerCarLocationChangedListener(TAG, this);
     }
 
     @Override
     public void analysisV2XCloundDataEvent(V2XWarningEntity cloundWarningInfo) {
+        Log.d(V2XConst.LOG_NAME_WARN, "analysisV2XCloundDataEvent -----> ");
+
         mCloundWarningInfo = cloundWarningInfo;
 
-        //绘制识别物与交汇点连线，并且更新连线数据 TODO VR模式无法获取道路宽度
-        drawOtherObjectLine(cloundWarningInfo);
-        Logger.d(V2XConst.LOG_NAME_WARN, "analysisV2XCloundDataEvent -----> ");
+        //绘制识别物与交汇点连线，并且更新连线数据
+        WorkThreadHandler.getInstance().postDelayed(() -> {
+            drawOtherObjectLine(cloundWarningInfo);
+        }, 0);
+
         //二轮车和行人的渲染和移动
         V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
+
+        //延迟3秒清理线
+        UiThreadHandler.postDelayed( () -> {
+            V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
+        }, 8000 );
     }
 
     /**
-     * 绘制行人和二轮车连线,并且更新数据
+     * 绘制行人和二轮车连线,并且更新数据 TODO 需要实时给行人当前位置
      */
     private void drawOtherObjectLine(V2XWarningEntity info) {
         IMogoPolyline polyLine = V2XServiceManager.getMoGoPersonWarnPolylineManager().getMogoPersonWarnPolyline();
@@ -56,7 +69,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
                 polyLine.setPoints(Arrays.asList(new MogoLatLng(info.getLat(), info.getLon()),
                         new MogoLatLng(info.getCollisionLat(), info.getCollisionLon())));
             } else {
-                Log.d(V2XConst.LOG_NAME_WARN, "polyLine == null");
+                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());
@@ -64,21 +77,14 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
                 lineInfo.setEndLocation(endLatlng);
                 lineInfo.setHeading(info.heading);
                 if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
-                    float roadWidth = V2XServiceManager.getMapUIController().getRoadWidth(info.getLon(),
-                            info.getLat(), (float) info.heading, true, true);
-                    Log.d(V2XConst.LOG_NAME_WARN, "roadWidth = " + roadWidth);
-                    float pixel = V2XServiceManager.getMapUIController().getScalePerPixel();
-                    float width = roadWidth / pixel;
-                    lineInfo.setWidth(width);
+//                    float roadWidth = V2XServiceManager.getMapUIController().getRoadWidth(info.getLon(),
+//                            info.getLat(), (float) info.heading, true, true);
+                    Log.d(V2XConst.LOG_NAME_WARN, "drawOtherObjectLine width = " + info.getRoadwidth());
+                    lineInfo.setWidth(info.getRoadwidth());
                 }
                 V2XServiceManager.getMoGoPersonWarnPolylineManager().drawPersonWarnPolyline(getContext(), lineInfo);
             }
 
-            //延迟3秒清理线
-            UiThreadHandler.postDelayed( () -> {
-                V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
-            }, 6000 );
-
         } else {
             Log.e(V2XConst.LOG_NAME_WARN, "info == null");
             V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
@@ -91,11 +97,11 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
     }
 
     /**
-     * 自车定位 移动完成需要 3s消失
+     * 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, "latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude());
+        Log.d(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude());
         //当行人经纬度交点 经纬度不为空，开始画线，否则清理
         //自车只需要关注移动
         IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
@@ -105,21 +111,21 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
                         new MogoLatLng(mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getCollisionLon())));
 
             } else {
-                Log.e(V2XConst.LOG_NAME_WARN, "mogoPolyline == null");
+                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.getCollisionLat(), mCloundWarningInfo.getCollisionLon());
                 info.setHeading(latLng.getBearing());
                 info.setStartLocation(startLatlng);
                 info.setEndLocation(endLatlng);
-                info.setWidth(60); //TODO
+                info.setWidth(mCloundWarningInfo.getRoadwidth()); //TODO 还需要转换比例尺
                 V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
             }
 
-            //延迟3秒清理线
+            //延迟3秒清理线 TODO 何时 清理
             UiThreadHandler.postDelayed( () -> {
                 V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
-            }, 3000 );
+            }, 13000 );
 
         } else {
             Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 mCloundWarningInfo == null");

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

@@ -38,8 +38,6 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
                 mMogoPolyline.remove();
             }
 
-            Log.d(V2XConst.LOG_NAME_WARN, "MoGoWarnPolylineManager --------> ");
-
             // 连接线参数
             MogoPolylineOptions options = new MogoPolylineOptions();
             List<Integer> colors = new ArrayList<>();
@@ -58,9 +56,9 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
                 colors.add(0xFFE32F46);
             }
 
-//            Log.d(V2XConst.LOG_NAME_WARN, "MoGoWarnPolylineManager roadWidth = " + roadWidth);
+            Log.d(V2XConst.LOG_NAME_WARN, "MoGoWarnPolylineManager roadWidth = " + info.getWidth());
             // 线条粗细，渐变，渐变色值
-            options.width(60).useGradient(true).colorValues(colors);
+            options.width(info.getWidth()).useGradient(true).transparency(0.9f).colorValues(colors);
 //            options.width(info.getWidth()).useGradient(true).colorValues(colors);
             // 当前车辆位置
             options.add(info.getStartLocation());