diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java index b4edb1fb66..107ed482c4 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java @@ -77,22 +77,21 @@ public class V2XWarningMarker implements IV2XMarker { public void drawLineWithEntity() { 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; 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(); + //获取停止线前方50m坐标点 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 + //在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"); @@ -106,7 +105,8 @@ public class V2XWarningMarker implements IV2XMarker { //添加停止线marker handleStopLine(); }, 0); - + Log.d(TAG, "显示时间为++" + String.valueOf(showTime) + "识别物类型:" + + String.valueOf(mCloundWarningInfo.getType())); clearAllLine(); } else { //无停止线 @@ -132,6 +132,10 @@ public class V2XWarningMarker implements IV2XMarker { (mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING); } + /*绘制停止线前方50m的红色预警线 + * startLatLng: 划线起点=停止线上的坐标点 + * mogoLatLng: 停止线前方50m坐标点 + * */ private void drawRedWarningLineFrontOfStopLine(V2XWarningEntity info, MogoLatLng startLatLng, MogoLatLng mogoLatLng) { if (info != null) { @@ -141,9 +145,6 @@ public class V2XWarningMarker implements IV2XMarker { 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) { Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine polyLine != null"); polyLine.setPoints(Arrays.asList(startLatLng, addMiddleLoc, endLatlng)); @@ -161,6 +162,9 @@ public class V2XWarningMarker implements IV2XMarker { V2XServiceManager.getMoGoStopPolylineManager().drawStopPolyline(getContext(), lineInfo); } clearAllLine(); + 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); } else { clearAllLine(); } @@ -168,7 +172,7 @@ public class V2XWarningMarker implements IV2XMarker { public void clearAllLine() { UiThreadHandler.postDelayed(() -> { - Log.d(TAG, "清除所有预警线的时间是:" + String.valueOf(System.currentTimeMillis())); + Log.d(TAG, "清除所有预警线的时间是:" + String.valueOf(showTime)); //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 @@ -241,16 +245,16 @@ 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 + * 自车前方的点,落点在停止线上--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))); 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()); + Log.d(TAG, "计算停止线上的某个点" + String.valueOf(carLocation.lat + "," + + String.valueOf(carLocation.lon))); return newLocation; } @@ -282,15 +286,12 @@ public class V2XWarningMarker implements IV2XMarker { //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.lon + "," + startLatlng.lat + - "中间扩展点" + addMiddleLoc.lon + "," + addMiddleLoc.lat + "终点:" + endLatlng.lon + "," + endLatlng.lat); if (mogoPolyline != null) { mogoPolyline.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng)); mogoPolyline.setTransparency(0.5f); } else { DrawLineInfo info = new DrawLineInfo(); // 对象 - 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); @@ -299,9 +300,12 @@ 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); + Log.d(TAG, "安全区域蓝色预警线" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng); + Log.d(TAG, "绘制自车与碰撞点之间的预警线+time=" + String.valueOf(System.currentTimeMillis())); } + 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); clearAllLine(); } else { clearAllLine(); @@ -328,16 +332,16 @@ public class V2XWarningMarker implements IV2XMarker { //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(); locations.add(startLatlng); locations.add(addMiddleLoc); locations.add(endLatlng); lineInfo.setLocations(locations); lineInfo.setHeading(info.heading); - Log.d(V2XConst.LOG_NAME_WARN, "drawOtherObjectLine width = " + info.getRoadwidth()); lineInfo.setWidth(info.getRoadwidth() * 14 + 5); V2XServiceManager.getMoGoPersonWarnPolylineManager().drawPersonWarnPolyline(getContext(), lineInfo); + Log.d(TAG, "道路宽度为" + info.getRoadwidth()); + 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); } } else { Log.e(V2XConst.LOG_NAME_WARN, "info == null"); @@ -356,17 +360,17 @@ public class V2XWarningMarker implements IV2XMarker { for (int i = 0; i < count; i++) { MogoLatLng newLo = Trigonometric.getNewLocation( startLatLng, 5 * (i + 1), Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat)); - Log.d(TAG, "小箭头位置" + newLo); V2XWarnDataDrawer.getInstance().drawerArrowsMarkerWithLocation(newLo, WARNING_ARROWS, 10, new Double(rotate).intValue()); + Log.d(TAG, "小箭头位置" + newLo); } } } + //线随车动 public void onCarLocationChanged2(Location latLng) { carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()); if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() && isSelfLineClear == false) { - //当行人经纬度交点 开始画线，否则清理 if (mCloundWarningInfo != null) { mCloundWarningInfo.setCarLocation(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude())); }