完成弱势交通参与者预警信息：CVX_PTC_THREAT_IND

2021-08-10 19:55:29 +08:00
parent 43bd23eccb
commit 6684d84290
4 changed files with 236 additions and 48 deletions
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/DataTypes.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/DataTypes.java
@@ -38,4 +38,9 @@ class DataTypes {
     * Push 事件场景 VR
     */
    public static final String TYPE_MARKER_PUSH_DATA = "TYPE_MARKER_PUSH_DATA";
+
+    /**
+     *OBU 识别的交通元素
+     */
+    public static final String TYPE_MARKER_OBU_DATA = "TYPE_MARKER_OBU_DATA";
 }
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
@@ -5,6 +5,7 @@ import android.util.Log
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.module.common.enum.WarningTypeEnum
 import com.mogo.module.obu.mogo.map.ObuRecognizedResultDrawer
+import com.mogo.module.obu.mogo.map.ObuVulnerableGroupsDrawer
 import com.mogo.service.IMogoServiceApis
 import com.mogo.service.MogoServicePaths
 import com.mogo.service.warning.IMoGoWaringProvider
@@ -35,6 +36,9 @@ class MogoPrivateObuManager private constructor() {
    // Obu 识别他车绘制
    private var mObuRecognizedResultDrawer: ObuRecognizedResultDrawer? = null

+    // Obu 弱势群体预警绘制
+    private var mObuVulnerableGroupsDrawer: ObuVulnerableGroupsDrawer? = null
+
    fun init(context: Context?) {
        Logger.d(MogoObuConst.TAG_MOGO_OBU, "obuManager初始化--")
        mMogoServiceApis = ARouter.getInstance().build(MogoServicePaths.PATH_SERVICE_APIS)
@@ -44,6 +48,7 @@ class MogoPrivateObuManager private constructor() {
        mIMoGoWaringProvider = mMogoServiceApis!!.waringProviderApi

        mObuRecognizedResultDrawer = ObuRecognizedResultDrawer()
+        mObuVulnerableGroupsDrawer = ObuVulnerableGroupsDrawer()

        //自研obu
        MogoObuManager.getInstance().connect(context, "192.168.1.199")
@@ -207,15 +212,15 @@ class MogoPrivateObuManager private constructor() {
                when (info.status) {
                    // 添加
                    ObuConstants.STATUS.ADD -> {
-
+                        mObuVulnerableGroupsDrawer?.addCvxRvInfoIndInfo(info)
                    }
                    // 删除
                    ObuConstants.STATUS.DELETE -> {
-
+                        mObuVulnerableGroupsDrawer?.removeCvxPtcInfoIndInfo(info.id)
                    }
                    // 更新
                    else -> {
-
+                        mObuVulnerableGroupsDrawer?.updateCvxPtcInfoIndInfo(info)
                    }
                }
            }
@@ -246,40 +251,54 @@ class MogoPrivateObuManager private constructor() {
        override fun onCvxV2vThreatIndInfo(info: CvxV2vThreatIndInfo?) {
            Logger.e(MogoObuConst.TAG_MOGO_OBU, "onCvxV2vThreatIndInfo ------> $info")
            info?.let {
-                //预警信息,预警类型 threat_level 3
-                if (info.threat_info != null) {
-                    if (info.threat_info.threat_level > 1) {
-                        //预警方位
-                        val direction = info.ext_info.target_classification
+                when (info.status) {
+                    // 添加
+                    ObuConstants.STATUS.ADD -> {
+                        //预警信息,预警类型 threat_level 3
+                        info.threat_info?.let {
+                            if (info.threat_info.threat_level > 1) {
+                                //预警方位
+                                val direction = info.ext_info.target_classification
+                                //显示警告红边
+                                mMogoServiceApis!!.v2XListenerManager.warningChangedForListenerWithDirection(
+                                    getMessageDirection(direction),
+                                    "ACTION_V2X_FRONT_WARNING"
+                                )

-                        //显示警告弹框
-                        mMogoServiceApis!!.v2XListenerManager.warningChangedForListenerWithDirection(
-                            getMessageDirection(direction),
-                            "ACTION_V2X_FRONT_WARNING"
-                        )
-
-                        //处理预警类型
-                        val appId = info.threat_info.app_id
-                        Logger.d(
-                            MogoObuConst.TAG_MOGO_OBU,
-                            "direction = " + direction + "----" + getMessageDirection(direction) + "--appId = " + appId
-                        )
-                        handleSdkObu(
-                            appId,
+                                //处理预警类型
+                                val appId = info.threat_info.app_id
+                                Logger.d(
+                                    MogoObuConst.TAG_MOGO_OBU,
+                                    "direction = " + direction + "----" + getMessageDirection(
+                                        direction
+                                    ) + "--appId = " + appId
+                                )
+                                handleSdkObu(
+                                    appId,
+                                    info.threat_info.threat_level,
+                                    getMessageDirection(direction),
+                                    info.status
+                                )
+                                // 这里不主动添加元素，原因是onCvxRvInfoIndInfo中会展示周边车，只用修改对应的车辆位置即可
+                            }
+                        }
+                    }
+                    // 删除
+                    ObuConstants.STATUS.DELETE -> {
+                        // 移除顶部弹窗
+                        mIMoGoWaringProvider?.disableWarningV2X(info.vehicle_id)
+                        // 移除地图元素
+                        mObuRecognizedResultDrawer?.removeCvxRvInfoIndInfo(info.vehicle_id)
+                    }
+                    // 更新
+                    else -> {
+                        //更新周边车辆进行预警颜色变换，车辆实时移动和变色
+                        mObuRecognizedResultDrawer?.updateCvxRvInfoIndInfo(
                            info.threat_info.threat_level,
-                            getMessageDirection(direction),
-                            info.status
+                            info.vehicle_id,
+                            info.basic_info
                        )
                    }
-
-                    //更新周边车辆进行预警颜色变换，车辆实时移动和变色
-                    mObuRecognizedResultDrawer?.updateCvxRvInfoIndInfo(
-                        info.threat_info.threat_level,
-                        info.vehicle_id,
-                        info.basic_info
-                    )
-                } else {
-                    Logger.e(MogoObuConst.TAG_MOGO_OBU, "info == null ")
                }
            }
        }
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt
@@ -13,7 +13,6 @@ import com.mogo.module.common.constants.DataTypes
 import com.mogo.utils.WorkThreadHandler
 import com.zhidao.support.obu.model.CvxRvInfoIndInfo
 import com.zhidao.support.obu.model.advance.MovingObjectInfo
-import com.zhidao.support.obu.model.advance.Position
 import java.util.concurrent.ConcurrentHashMap

 /**
@@ -26,6 +25,9 @@ class ObuRecognizedResultDrawer() {

    private var mContext: Context? = null

+    // 动画持续时间
+    private val stepTime = 100L
+
    // 维护Obu识别的他车集合
    private val mCvxRvInfoIndInfoMap = ConcurrentHashMap<String, CvxRvInfoIndInfo>()

@@ -35,12 +37,6 @@ class ObuRecognizedResultDrawer() {
    // 上一帧数据的缓存，用来做移动动画
    private val mMarkersCaches = ConcurrentHashMap<String, IMogoMarker>()

-    //
-    private val notShowThresholdValue = 1000
-
-    // 动画持续时间
-    private val stepTime = 100L
-
    // 维护一个线程定时轮询数据进行地图绘制
    private val mDrawerHandler: Handler =
        object : Handler(WorkThreadHandler.newInstance("other_car_obu_drawer").looper) {
@@ -79,13 +75,13 @@ class ObuRecognizedResultDrawer() {
        mContext = AbsMogoApplication.getApp()
        mDrawerHandler.sendEmptyMessageDelayed(1, 0L)

-       /* // TODO 测试数据
-        val cvxRvInfoIndInfo = CvxRvInfoIndInfo(0, 1, 2)
-        cvxRvInfoIndInfo.vehicle_id = "123321"
-        val position = Position(0, 399739429, 1164115207, 20)
-        val movingObjectInfo = MovingObjectInfo(0, position, 1800, 60)
-        cvxRvInfoIndInfo.basic_info = movingObjectInfo
-        addCvxRvInfoIndInfo(cvxRvInfoIndInfo)*/
+        /* // TODO 测试数据
+         val cvxRvInfoIndInfo = CvxRvInfoIndInfo(0, 1, 2)
+         cvxRvInfoIndInfo.vehicle_id = "123321"
+         val position = Position(0, 399739429, 1164115207, 20)
+         val movingObjectInfo = MovingObjectInfo(0, position, 1800, 60)
+         cvxRvInfoIndInfo.basic_info = movingObjectInfo
+         addCvxRvInfoIndInfo(cvxRvInfoIndInfo)*/

    }

@@ -182,7 +178,7 @@ class ObuRecognizedResultDrawer() {
                )
            )
        val marker = MogoApisHandler.getInstance().apis.mapServiceApi.getMarkerManager(mContext)
-            .addMarker(DataTypes.TYPE_MARKER_ADAS, options)
+            .addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)

        // 缓存数据
        mMarkersCaches[cvxRvInfoIndInfo.vehicle_id] = marker
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuVulnerableGroupsDrawer.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuVulnerableGroupsDrawer.kt
@@ -0,0 +1,168 @@
+package com.mogo.module.obu.mogo.map
+
+import android.content.Context
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.map.MogoLatLng
+import com.mogo.map.marker.IMogoMarker
+import com.mogo.map.marker.MogoMarkerOptions
+import com.mogo.module.common.MogoApisHandler
+import com.mogo.module.common.R
+import com.mogo.module.common.constants.DataTypes
+import com.zhidao.support.obu.model.CvxPtcInfoIndInfo
+import java.util.concurrent.ConcurrentHashMap
+
+/**
+ *@author        xiaoyuzhou
+ *@date          2021/8/10 7:08 下午
+ * 弱势群体预警
+ */
+class ObuVulnerableGroupsDrawer {
+    private val TAG = "ObuVulnerableGroupsDrawer"
+
+    private var mContext: Context? = null
+
+    // 动画持续时间
+    private val stepTime = 100L
+
+    // 维护Obu识别的弱势交通预警
+    private val mCvxPtcInfoIndInfoMap = ConcurrentHashMap<String, CvxPtcInfoIndInfo>()
+
+    // 地图内部资源md5缓存，便于资源复用
+    private val mMarkerCachesResMd5Values = ConcurrentHashMap<Int, String>()
+
+    // 上一帧数据的缓存，用来做移动动画
+    private val mMarkersCaches = ConcurrentHashMap<String, IMogoMarker>()
+
+    init {
+        mContext = AbsMogoApplication.getApp()
+    }
+
+    /**
+     * 添加识别的数据
+     */
+    fun addCvxRvInfoIndInfo(value: CvxPtcInfoIndInfo) {
+        mCvxPtcInfoIndInfoMap[value.id] = value
+        drawerCvxPtcInfoIndInfo()
+    }
+
+    /**
+     * 移除识别的数据
+     */
+    fun removeCvxPtcInfoIndInfo(key: String) {
+        mCvxPtcInfoIndInfoMap.remove(key)
+        drawerCvxPtcInfoIndInfo()
+    }
+
+    /**
+     * 更新识别数据,V2V预警数据
+     */
+    fun updateCvxPtcInfoIndInfo(value: CvxPtcInfoIndInfo) {
+        mCvxPtcInfoIndInfoMap[value.id] = value
+        // 修改颜色
+        mMarkersCaches[value.id]?.setAnchorColor("#FF3C45FF")
+        drawerCvxPtcInfoIndInfo()
+    }
+
+    /**
+     * 绘制
+     */
+    private fun drawerCvxPtcInfoIndInfo() {
+        // 数据为空的时候清除所有数据
+        if (mCvxPtcInfoIndInfoMap.isEmpty()) {
+            mMarkersCaches.forEach {
+                it.value.remove()
+            }
+            mMarkersCaches.clear()
+        } else {
+            // 循环绘制识别的数据
+            mCvxPtcInfoIndInfoMap.forEach {
+                //Logger.d(TAG, "drawerCvxRvInfo：${it.value}")
+                // 如果数据已经存在 Marker，取出做动画
+                if (mMarkersCaches[it.key] != null) {
+                    mMarkersCaches[it.key]?.let { it1 ->
+                        changeDynamicMarker(it1, it.value)
+                    }
+                }
+                // 不存在的添加Marker绘制
+                else {
+                    drawObuRecognizedDataMarker(it.value)
+                }
+            }
+        }
+    }
+
+
+    /**
+     * 绘制单条
+     */
+    private fun drawObuRecognizedDataMarker(cvxPtcInfoIndInfo: CvxPtcInfoIndInfo): IMogoMarker {
+        var resId: Int = R.raw.people
+        when (cvxPtcInfoIndInfo.ptc_type) {
+            // 未知
+            0x0 -> {
+                resId = R.raw.tache
+            }
+            // 非机动车
+            0x1 -> {
+                resId = R.raw.motorbike
+            }
+            // 行人
+            0x2 -> {
+                resId = R.raw.people
+            }
+            // RSU
+            0x3 -> {
+            }
+            else -> {
+            }
+        }
+
+        val resIdVal = resId.toString() + ""
+
+        val options = MogoMarkerOptions()
+            .owner(DataTypes.TYPE_MARKER_ADAS)
+            .anchor(0.5f, 0.5f)
+            .set3DMode(true)
+            .gps(true)
+            .controlAngle(true)
+            .resName(mMarkerCachesResMd5Values[resIdVal])
+            .icon3DRes(resId)
+            .rotate(cvxPtcInfoIndInfo.basic_info.heading.toFloat())
+            .position(
+                MogoLatLng(
+                    cvxPtcInfoIndInfo.basic_info.position.latitude,
+                    cvxPtcInfoIndInfo.basic_info.position.longitude
+                )
+            )
+        val marker = MogoApisHandler.getInstance().apis.mapServiceApi.getMarkerManager(mContext)
+            .addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
+
+        // 缓存数据
+        mMarkersCaches[cvxPtcInfoIndInfo.id] = marker
+        return marker
+    }
+
+    /**
+     * 带动画的修改Marker
+     */
+    private fun changeDynamicMarker(
+        marker: IMogoMarker,
+        cvxPtcInfoIndInfo: CvxPtcInfoIndInfo
+    ): IMogoMarker {
+
+        val renderLoc = MogoLatLng(
+            cvxPtcInfoIndInfo.basic_info.position.latitude,
+            cvxPtcInfoIndInfo.basic_info.position.longitude
+        )
+
+        marker.addDynamicAnchorPosition(
+            renderLoc,
+            cvxPtcInfoIndInfo.basic_info.heading.toFloat(),
+            stepTime
+        )
+
+        return marker
+    }
+
+
+}