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日志,存在停止线状态的预警线

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This commit is contained in:
liujing
2021-07-17 16:13:44 +08:00
parent ad1f8b842d
commit 5b78938139
1 changed files with 24 additions and 20 deletions
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44
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
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@@ -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()));
}