diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle
index fa9c7cf8f4..28941cfea3 100644
--- a/libraries/map-custom/build.gradle
+++ b/libraries/map-custom/build.gradle
@@ -67,7 +67,7 @@ dependencies {
implementation project(':foudations:mogo-commons')
}
- implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.5.5'
+ implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.5.6'
// implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
}
diff --git a/libraries/tanlulib/src/main/java/com/zhidao/roadcondition/service/CarCorderController.kt b/libraries/tanlulib/src/main/java/com/zhidao/roadcondition/service/CarCorderController.kt
index faee34d0e5..ac1a0a8a49 100644
--- a/libraries/tanlulib/src/main/java/com/zhidao/roadcondition/service/CarCorderController.kt
+++ b/libraries/tanlulib/src/main/java/com/zhidao/roadcondition/service/CarCorderController.kt
@@ -499,6 +499,7 @@ object CarCorderController : TakePhotoCallback, TakeVideoCallback {
info.type = type //0为图片， 1为视频
info.fromType = fromType
info.mainInfoId = mainInfoId
+ info.infoType = 1
return info
}
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
index 491aa86bed..7ac3c2d469 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
@@ -10,6 +10,7 @@ import android.util.Log;
import android.view.ViewGroup;
import android.widget.TextView;
+import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.module.common.MogoApisHandler;
@@ -28,12 +29,12 @@ import java.util.Set;
import static java.lang.Math.PI;
public
-/**
- * @author congtaowang
- * @since 2020/10/30
- *
- * 描述
- */
+ /*
+ * @author congtaowang
+ * @since 2020/10/30
+ *
+ * 描述
+ */
class BaseDrawer {
/**
@@ -47,11 +48,11 @@ class BaseDrawer {
public void showSpeed() {
try {
- showSelfSpeed( context,
+ showSelfSpeed(context,
marker,
speed,
- MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() );
- } catch ( Exception e ) {
+ MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
+ } catch (Exception e) {
e.printStackTrace();
}
}
@@ -59,7 +60,6 @@ class BaseDrawer {
// 移除过期的 marker
public static final int MSG_REMOVE_DIRTY_MARKERS = 9990;
- public static final int MSG_REMOVE_ADAS_MARKERS = 9992;
/**
* 显示速度
@@ -79,12 +79,12 @@ class BaseDrawer {
/**
* 地图内部资源md5缓存，便于资源复用
*/
- protected static final Map< String, String > mMarkerCachesResMd5Values = new HashMap<>();
+ protected static final Map mMarkerCachesResMd5Values = new HashMap<>();
/**
* 上一帧数据的缓存
*/
- protected Map< String, IMogoMarker > mMarkersCaches = new HashMap<>();
+ protected Map mMarkersCaches = new HashMap<>();
protected final Context mContext;
@@ -101,38 +101,38 @@ class BaseDrawer {
* 处理 marker 移除的线程
*/
private static void initWorkThreadHandler() {
- if ( mWorkThreadHandler == null ) {
- mWorkThreadHandler = new Handler( WorkThreadHandler.newInstance( "3d-marker-work-thread" ).getLooper() ) {
+ if (mWorkThreadHandler == null) {
+ mWorkThreadHandler = new Handler(WorkThreadHandler.newInstance("3d-marker-work-thread").getLooper()) {
@Override
- public void handleMessage( Message msg ) {
- super.handleMessage( msg );
- if ( msg.what == MSG_REMOVE_DIRTY_MARKERS ) {
- if ( msg.obj instanceof Map ) {
- removeDirtyMarkers( ( ( Map ) msg.obj ) );
- Set< String > key = ( ( Map ) msg.obj ).keySet();
- for ( String id : key ) {
+ public void handleMessage(Message msg) {
+ super.handleMessage(msg);
+ if (msg.what == MSG_REMOVE_DIRTY_MARKERS) {
+ if (msg.obj instanceof Map) {
+ removeDirtyMarkers(((Map) msg.obj));
+ Set key = ((Map) msg.obj).keySet();
+ for (String id : key) {
// 清除道路缓存
- clearRoadCacheById( id );
+ clearRoadCacheById(id);
}
- } else if ( msg.obj instanceof String ) {
+ } else if (msg.obj instanceof String) {
MogoApisHandler.getInstance().getApis()
.getMapServiceApi()
- .getMarkerManager( AbsMogoApplication.getApp() )
- .removeMarkers( ( ( String ) msg.obj ) );
+ .getMarkerManager(AbsMogoApplication.getApp())
+ .removeMarkers(((String) msg.obj));
}
}
}
};
}
- if ( mRenderThreadHandler == null ) {
- mRenderThreadHandler = new Handler( WorkThreadHandler.newInstance( "render-thread-" + new Random().nextLong() ).getLooper() ) {
+ if (mRenderThreadHandler == null) {
+ mRenderThreadHandler = new Handler(WorkThreadHandler.newInstance("render-thread-" + new Random().nextLong()).getLooper()) {
@Override
- public void handleMessage( Message msg ) {
- super.handleMessage( msg );
- if ( msg.what == MSG_DISPLAY_SPEED ) {
- if ( msg.obj instanceof SpeedData ) {
- showSpeed( ( SpeedData ) msg.obj );
+ public void handleMessage(Message msg) {
+ super.handleMessage(msg);
+ if (msg.what == MSG_DISPLAY_SPEED) {
+ if (msg.obj instanceof SpeedData) {
+ showSpeed((SpeedData) msg.obj);
}
}
}
@@ -143,10 +143,10 @@ class BaseDrawer {
/**
* 显示速度
*
- * @param data
+ * @param data {@link SpeedData}
*/
- private static void showSpeed( SpeedData data ) {
- if ( data == null ) {
+ private static void showSpeed(SpeedData data) {
+ if (data == null) {
return;
}
data.showSpeed();
@@ -156,13 +156,13 @@ class BaseDrawer {
* 清除无效[为 null 或者 已被销毁]的 marker
*/
protected void removeUselessMarker() {
- if ( mMarkersCaches == null || mMarkersCaches.isEmpty() ) {
+ if (mMarkersCaches == null || mMarkersCaches.isEmpty()) {
return;
}
- Iterator< IMogoMarker > iterator = mMarkersCaches.values().iterator();
- while ( iterator.hasNext() ) {
+ Iterator iterator = mMarkersCaches.values().iterator();
+ while (iterator.hasNext()) {
IMogoMarker marker = iterator.next();
- if ( marker == null || marker.isDestroyed() ) {
+ if (marker == null || marker.isDestroyed()) {
iterator.remove();
}
}
@@ -171,66 +171,60 @@ class BaseDrawer {
/**
* 发送消息
*
- * @param msg
- * @param data
+ * @param msg 消息类型
+ * @param data 数据体
*/
- public void sendMessage( int msg, Object data ) {
+ public void sendMessage(int msg, Object data) {
Message message = Message.obtain();
message.what = msg;
message.obj = data;
- mWorkThreadHandler.sendMessage( message );
+ mWorkThreadHandler.sendMessage(message);
}
/**
* 判断是否是绘制内容
*
- * @param type
- * @return
+ * @param type {@link AdasRecognizedType}
+ * @return render
*/
- public boolean isRenderType( int type ) {
- AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom( type );
- if ( recognizedType == AdasRecognizedType.classIdCar
+ public boolean isRenderType(int type) {
+ AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
+ return recognizedType == AdasRecognizedType.classIdCar
|| recognizedType == AdasRecognizedType.classIdMoto
|| recognizedType == AdasRecognizedType.classIdBicycle
|| recognizedType == AdasRecognizedType.classIdPerson
|| recognizedType == AdasRecognizedType.classIdTrafficBus
- || recognizedType == AdasRecognizedType.classIdTrafficTruck ) {
- return true;
- }
- return false;
+ || recognizedType == AdasRecognizedType.classIdTrafficTruck;
}
/**
* 是否展示车速
*
- * @param type
- * @return
+ * @param type {@link AdasRecognizedType}
+ * @return showSpeed
*/
- public boolean shouldShowSpeed( int type ) {
- AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom( type );
- if ( recognizedType == AdasRecognizedType.classIdBicycle
- || recognizedType == AdasRecognizedType.classIdMoto
- || recognizedType == AdasRecognizedType.classIdPerson ) {
- return false;
- }
- return true;
+ public boolean shouldShowSpeed(int type) {
+ AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
+ return recognizedType != AdasRecognizedType.classIdBicycle
+ && recognizedType != AdasRecognizedType.classIdMoto
+ && recognizedType != AdasRecognizedType.classIdPerson;
}
/**
* 获取3D锚点模型资源
*
* @param type {@link AdasRecognizedType}
- * @return
+ * @return modelRes
*/
- public int getModelRes( int type ) {
- AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom( type );
- if ( recognizedType == AdasRecognizedType.classIdCar
- || recognizedType == AdasRecognizedType.classIdTrafficTruck ) {
+ public int getModelRes(int type) {
+ AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
+ if (recognizedType == AdasRecognizedType.classIdCar
+ || recognizedType == AdasRecognizedType.classIdTrafficTruck) {
return R.raw.othercar;
- } else if ( recognizedType == AdasRecognizedType.classIdTrafficBus ) {
+ } else if (recognizedType == AdasRecognizedType.classIdTrafficBus) {
return R.raw.bus;
- } else if ( recognizedType == AdasRecognizedType.classIdBicycle
- || recognizedType == AdasRecognizedType.classIdMoto ) {
+ } else if (recognizedType == AdasRecognizedType.classIdBicycle
+ || recognizedType == AdasRecognizedType.classIdMoto) {
return R.raw.motorbike;
}
return R.raw.people;
@@ -239,38 +233,38 @@ class BaseDrawer {
/**
* 根据速度、经纬度计算距离判断车辆颜色
*
- * @param speed 车速
+ * @param speed 车速 TODO 这里很可能是adas的策略
* @param lon 经度
* @param lat 纬度
* @return 实际车辆颜色
*/
- protected String getModelRenderColor( int type, double speed, double lon, double lat, double angle ) {
+ protected String getModelRenderColor(int type, double speed, double lon, double lat, double angle) {
- AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom( type );
- if ( recognizedType == AdasRecognizedType.classIdTrafficBus ) {
+ AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
+ if (recognizedType == AdasRecognizedType.classIdTrafficBus) {
return "#D8D8D8FF";
}
// 距离策略
-// double coordinates[] = getCurCoordinates();
-// double distance = CoordinateUtils.calculateLineDistance( lon, lat, coordinates[0], coordinates[1] ) * 100;
-// if ( distance < 50 ) {
-// return Car3DModelColor.Dangerous.color;
-// } else if ( distance < 100 && distance >= 50 ) {
-// return Car3DModelColor.Warming.color;
-// }
+ double[] coordinates = getCurCoordinates();
+ double distance = CoordinateUtils.calculateLineDistance(lon, lat, coordinates[0], coordinates[1]) * 100;
+ if (distance < 50) {
+ return Car3DModelColor.Dangerous.color;
+ } else if (distance < 100 && distance >= 50) {
+ return Car3DModelColor.Warming.color;
+ }
- // 他车车速和自车车速对比速度策略
- // 自车速度 >= 50% 危险
- // 10% < 自车速度 < 50% 警告
-// double curSpeed = getCurSpeed();
-// if ( curSpeed > 0 && speed > curSpeed ) {
-// double rate = ( ( speed - curSpeed ) / curSpeed ) * 100;
-// if ( rate >= 50 ) {
-// return Car3DModelColor.Dangerous.color;
-// } else if ( rate > 10 && rate < 50 ) {
-// return Car3DModelColor.Warming.color;
-// }
-// }
+// 他车车速和自车车速对比速度策略
+// 自车速度 >= 50% 危险
+// 10% < 自车速度 < 50% 警告
+ double curSpeed = getCurSpeed();
+ if (curSpeed > 0 && speed > curSpeed) {
+ double rate = ((speed - curSpeed) / curSpeed) * 100;
+ if (rate >= 50) {
+ return Car3DModelColor.Dangerous.color;
+ } else if (rate > 10 && rate < 50) {
+ return Car3DModelColor.Warming.color;
+ }
+ }
// 默认颜色
return Car3DModelColor.Normal.color;
@@ -279,11 +273,11 @@ class BaseDrawer {
/**
* 返回当前自车速度
*
- * @return
+ * @return isCurSpeed
*/
private double getCurSpeed() {
double speed = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastSpeed();
- if ( speed <= 0 ) {
+ if (speed <= 0) {
speed = SnapshotLocationController.getInstance().getCurSpeed();
}
return speed;
@@ -295,11 +289,11 @@ class BaseDrawer {
* @return
*/
private double[] getCurCoordinates() {
- double coordinates[] = {
+ double[] coordinates = {
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(),
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(),
};
- if ( coordinates[0] <= 0 ) {
+ if (coordinates[0] <= 0) {
coordinates[0] = SnapshotLocationController.getInstance().getCurLon();
coordinates[1] = SnapshotLocationController.getInstance().getCurLat();
}
@@ -312,13 +306,13 @@ class BaseDrawer {
*/
public enum Car3DModelColor {
- Normal( "#D8D8D8FF" ),
- Warming( "#FFD53EFF" ),
- Dangerous( "#FF3C45FF" );
+ Normal("#D8D8D8FF"),
+ Warming("#FFD53EFF"),
+ Dangerous("#FF3C45FF");
- private String color;
+ private final String color;
- Car3DModelColor( String color ) {
+ Car3DModelColor(String color) {
this.color = color;
}
}
@@ -328,59 +322,59 @@ class BaseDrawer {
/**
* 展示车辆速度
*
- * @param context
- * @param mogoMarker
- * @param speed
- * @param isVrMode
+ * @param context 上下文
+ * @param mogoMarker {@link IMogoMarker}
+ * @param speed 是否显示速度
+ * @param isVrMode 是否是vrMode
*/
- public void showSelfSpeed( Context context, IMogoMarker mogoMarker, double speed, boolean isVrMode ) {
- if ( mogoMarker == null || mogoMarker.isDestroyed() ) {
+ public void showSelfSpeed(Context context, IMogoMarker mogoMarker, double speed, boolean isVrMode) {
+ if (mogoMarker == null || mogoMarker.isDestroyed()) {
return;
}
- if ( !isVrMode ) {
+ if (!isVrMode) {
mogoMarker.hideInfoWindow();
return;
}
- int speedIntVal = ( int ) ( speed * 3.6 );
- if ( speedIntVal <= 0 ) {
+ int speedIntVal = (int) (speed * 3.6);
+ if (speedIntVal <= 0) {
mogoMarker.hideInfoWindow();
return;
}
String speedVal = speedIntVal + "";
- String infoResName = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getMarkerInfoResName( speedVal );
- mogoMarker.setInfoWindowOffset( 0, 20 );
- if ( TextUtils.isEmpty( infoResName ) ) {
- if ( mSpeedView == null ) {
- mSpeedView = new TextView( context );
- mSpeedView.setTextColor( Color.WHITE );
- mSpeedView.setTypeface( Typeface.defaultFromStyle( Typeface.BOLD ) );
- mSpeedView.setLayoutParams( new ViewGroup.LayoutParams( ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT ) );
+ String infoResName = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getMarkerInfoResName(speedVal);
+ mogoMarker.setInfoWindowOffset(0, 20);
+ if (TextUtils.isEmpty(infoResName)) {
+ if (mSpeedView == null) {
+ mSpeedView = new TextView(context);
+ mSpeedView.setTextColor(Color.WHITE);
+ mSpeedView.setTypeface(Typeface.defaultFromStyle(Typeface.BOLD));
+ mSpeedView.setLayoutParams(new ViewGroup.LayoutParams(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT));
}
- mSpeedView.setText( speedVal );
- mogoMarker.updateInfoWindowView( mSpeedView );
- MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().setMarkerInfoResName( speedVal, mogoMarker.getMarkerInfoResName() );
+ mSpeedView.setText(speedVal);
+ mogoMarker.updateInfoWindowView(mSpeedView);
+ MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().setMarkerInfoResName(speedVal, mogoMarker.getMarkerInfoResName());
} else {
- mogoMarker.updateInfoWindowView( infoResName );
+ mogoMarker.updateInfoWindowView(infoResName);
}
}
/**
* 移除markers
*
- * @param dirtyMarkers
+ * @param dirtyMarkers 缓存marker数据
*/
- protected static void removeDirtyMarkers( Map< String, IMogoMarker > dirtyMarkers ) {
- if ( dirtyMarkers == null || dirtyMarkers.isEmpty() ) {
+ protected static void removeDirtyMarkers(Map dirtyMarkers) {
+ if (dirtyMarkers == null || dirtyMarkers.isEmpty()) {
return;
}
- final Collection< IMogoMarker > dirSet = dirtyMarkers.values();
- for ( IMogoMarker value : dirSet ) {
- if ( value == null || value.isDestroyed() ) {
+ final Collection dirSet = dirtyMarkers.values();
+ for (IMogoMarker value : dirSet) {
+ if (value == null || value.isDestroyed()) {
continue;
}
try {
value.destroy();
- } catch ( Exception e ) {
+ } catch (Exception e) {
e.printStackTrace();
}
}
@@ -393,15 +387,15 @@ class BaseDrawer {
* @param id
* @param marker
*/
- protected static void cacheMarkerIconResMd5Val( String id, IMogoMarker marker ) {
- if ( marker == null || marker.isDestroyed() ) {
+ protected static void cacheMarkerIconResMd5Val(String id, IMogoMarker marker) {
+ if (marker == null || marker.isDestroyed()) {
return;
}
String md5 = marker.getMarkerResName();
- if ( TextUtils.isEmpty( md5 ) || TextUtils.isEmpty( id ) ) {
+ if (TextUtils.isEmpty(md5) || TextUtils.isEmpty(id)) {
return;
}
- mMarkerCachesResMd5Values.put( id, md5 );
+ mMarkerCachesResMd5Values.put(id, md5);
}
/**
@@ -413,14 +407,14 @@ class BaseDrawer {
* @param isRtk
* @return
*/
- public double[] matchRoad( String id, double lon, double lat, double angle, boolean isRtk ) {
+ public double[] matchRoad(String id, double lon, double lat, double angle, boolean isRtk) {
final long start = System.currentTimeMillis();
double[] matchRoad = MogoApisHandler.getInstance()
.getApis()
.getMapServiceApi()
.getMapUIController()
- .matchRoad( id, lon, lat, angle, true, isRtk );
- Log.i( "timer-matchRoad", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+ .matchRoad(id, lon, lat, angle, true, isRtk);
+ Log.i("timer-matchRoad", "cost " + (System.currentTimeMillis() - start) + "ms");
return matchRoad;
}
@@ -429,8 +423,8 @@ class BaseDrawer {
*
* @param id
*/
- public static void clearRoadCacheById( String id ) {
- MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().clearRoadCacheById( id );
+ public static void clearRoadCacheById(String id) {
+ MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().clearRoadCacheById(id);
}
/**
@@ -442,11 +436,11 @@ class BaseDrawer {
* @param curSatelliteTime
* @return
*/
- public long computeAnimDuration( long lastSystemTime, long curSystemTime, long lastSatelliteTime, long curSatelliteTime ) {
+ public long computeAnimDuration(long lastSystemTime, long curSystemTime, long lastSatelliteTime, long curSatelliteTime) {
long systemTimeInterval = curSystemTime - lastSystemTime;
long satelliteTimeInterval = curSatelliteTime - lastSatelliteTime;
long interval = systemTimeInterval < satelliteTimeInterval || satelliteTimeInterval == 0 ? systemTimeInterval : satelliteTimeInterval;
- if ( interval < 45 ) {
+ if (interval < 45) {
interval = 45;
}
return interval;
@@ -463,37 +457,37 @@ class BaseDrawer {
* @param lastLat
* @return
*/
- protected double[] getMatchLonLat( String id, double lon, double lat, double heading, double lastLon, double lastLat ) {
- double[] matchedPoint = matchRoad( id, lon,
+ protected double[] getMatchLonLat(String id, double lon, double lat, double heading, double lastLon, double lastLat) {
+ double[] matchedPoint = matchRoad(id, lon,
lat,
heading,
true
);
boolean match = false;
- if ( matchedPoint != null ) {
+ if (matchedPoint != null) {
// Logger.d( TAG, "matchPoint %s distance = %s",lineCounter, matchedPoint[2] );
match = matchedPoint[2] < 1 && matchedPoint[2] > 0;
- if ( lastLon != -1 ) {
+ if (lastLon != -1) {
double clearAngle;
- if ( heading > 0 && heading <= 90 ) {
+ if (heading > 0 && heading <= 90) {
clearAngle = heading;
- } else if ( heading > 90 && heading <= 180 ) {
+ } else if (heading > 90 && heading <= 180) {
clearAngle = 180 - heading;
- } else if ( heading > 180 && heading <= 270 ) {
+ } else if (heading > 180 && heading <= 270) {
clearAngle = heading - 180;
} else {
clearAngle = 360 - heading;
}
- double _angle = Math.atan2( Math.abs( matchedPoint[0] - lastLon ), Math.abs( matchedPoint[1] - lastLat ) ) * ( 180 / PI );
- _angle = Math.abs( clearAngle - _angle );
+ double _angle = Math.atan2(Math.abs(matchedPoint[0] - lastLon), Math.abs(matchedPoint[1] - lastLat)) * (180 / PI);
+ _angle = Math.abs(clearAngle - _angle);
// Logger.d(TAG, "matchPoint %s angel = %s", lineCounter, _angle);
- if ( _angle > 22.5 ) {
+ if (_angle > 22.5) {
match = false;
}
}
- if ( match ) {
+ if (match) {
lon = matchedPoint[0];
lat = matchedPoint[1];
}
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java
index d72eb87fb5..8418f23054 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java
@@ -58,6 +58,10 @@ class OnlineCarDrawer {
return sInstance;
}
+ public void clearMarkers(){
+ MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( AbsMogoApplication.getApp() ).removeMarkers( ModuleNames.CARD_TYPE_USER_DATA );
+ }
+
/**
* 绘制在线车辆marker
*
@@ -72,12 +76,12 @@ class OnlineCarDrawer {
IMogoMarkerClickListener listener ) {
// 将数据同步给在线车辆，避免每次 perform 的时候去拉取，造成消耗
if ( onlineCarList == null || onlineCarList.isEmpty() ) {
- MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( AbsMogoApplication.getApp() ).removeMarkers( ModuleNames.CARD_TYPE_USER_DATA );
+ clearMarkers();
return;
}
if ( clearOld ) {
- MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( AbsMogoApplication.getApp() ).removeMarkers( ModuleNames.CARD_TYPE_USER_DATA );
+ clearMarkers();
}
int size = MarkerDrawer.getInstance().getAppropriateSize( maxAmount, onlineCarList );
@@ -191,4 +195,6 @@ class OnlineCarDrawer {
}
return false;
}
+
+
}
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
index c5e5c5fc5b..26f50e85c4 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
@@ -77,16 +77,22 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
private boolean mIsVrMode = false;
+ /**
+ * 注册StatusDescriptor.VR_MODE类型，VR_MODE状态改变回调
+ * @param descriptor 状态类型
+ * @param isTrue true - accOn、adas ui show、voice ui show、push ui show、v2x ui show
+ */
@Override
public void onStatusChanged( StatusDescriptor descriptor, boolean isTrue ) {
Logger.d( TAG, "%s - %s", descriptor, isTrue );
mChangeCarModeStatus = true;
- sendMessage( MSG_REMOVE_ADAS_MARKERS, mMarkersCaches );
+ sendMessage( MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches );
mMarkersCaches = new HashMap<>();
if ( mLastPositions != null ) {
mLastPositions.clear();
}
- AdasRecognizedResultDrawer.getInstance().notifyVrModeChanged();
+ AdasRecognizedResultDrawer.getInstance().notifyVrModeChanged(); //清除ADAS old marker data
+ OnlineCarDrawer.getInstance().clearMarkers(); //清除在线车辆 old marker data
}
public boolean isVrMode() {
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
index b6f0ed0894..71bbe6a00d 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
@@ -16,6 +16,7 @@ import com.mogo.module.common.drawer.marker.SimpleWindow3DAdapter;
import com.mogo.module.common.entity.MarkerLocation;
import com.mogo.module.common.entity.MarkerShowEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
+import com.mogo.module.common.utils.Trigonometric;
import com.mogo.module.common.view.MarkerBaseFloor;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.StatusDescriptor;
@@ -86,6 +87,12 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_WARN_DATA);
IMogoMarker bottomMarker = drawMarkerWith2Resource(markerShowEntity);
+
+ MogoLatLng mogoLatLng = new MogoLatLng(data.getCollisionLat(), data.getCollisionLon());
+ //2D资源图片位置调整
+ MogoLatLng stopLineNew = Trigonometric.getNewLocation(data.getStopLines().get(1), 8, 180);
+ MogoLatLng newLocation = Trigonometric.getNewLocation(mogoLatLng, 8, 180);
+
IMogoMarker marker = drawMarker(markerShowEntity);
Log.d("liyz", "renderWarnData marker != null direction = " + data.getDirection());
//识别物
@@ -94,8 +101,8 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
data.getDirection() == 1 ? data.getStopLines().get(1).lon : data.getCollisionLon()), (float) data.getHeading(), 5000);
//识别物下方的红色圆圈
bottomMarker.addDynamicAnchorPosition(new MogoLatLng(
- data.getDirection() == 1 ? data.getStopLines().get(1).lat : data.getCollisionLat(),
- data.getDirection() == 1 ? data.getStopLines().get(1).lon : data.getCollisionLon()), (float) data.getHeading(), 5000);
+ data.getDirection() == 1 ? stopLineNew.lat : newLocation.getLat(),
+ data.getDirection() == 1 ? stopLineNew.lon : newLocation.getLon()), (float) data.getHeading(), 5000);
//移动完成以后，3s后消失
UiThreadHandler.postDelayed(() -> {
marker.remove();
@@ -121,16 +128,31 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
return marker;
}
+ public void drawerMarkerWithLocation(MarkerShowEntity markerShowEntity, MogoLatLng location) {
+ MogoMarkerOptions options = new MogoMarkerOptions()
+ .object(markerShowEntity)
+ .latitude(location.getLat())
+ .longitude(location.getLon());
+ IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(mContext, markerShowEntity, options);
+ options.icon3DRes(getModelRes(2)); //TODO
+
+ options.anchorColor("#FB3C3CFF"); //红色#FF3036 蓝色：#256BFF
+ IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), options);
+ iMarkerView.setMarker(marker);
+ marker.setToTop();
+ }
+
/*
- * 2D资源绘制marker
+ * 2D资源绘制marker底部的红色圆圈
* */
private IMogoMarker drawMarkerWith2Resource(MarkerShowEntity markerShowEntity) {
+ MogoLatLng mogoLatLng = new MogoLatLng(markerShowEntity.getMarkerLocation().getLat(), markerShowEntity.getMarkerLocation().getLon());
+ MogoLatLng newLocation = Trigonometric.getNewLocation(mogoLatLng, 8, 180);
MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
- .latitude(markerShowEntity.getMarkerLocation().getLat())
- .longitude(markerShowEntity.getMarkerLocation().getLon())
+ .latitude(newLocation.getLat())
+ .longitude(newLocation.getLon())
.anchor(1.0f, 1.0f)
.zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH);
-
optionsRipple
.icon(ViewUtils.fromView(new EmptyMarkerView(mContext)));
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), optionsRipple);
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java
index c46feff25a..da20e6f206 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java
@@ -10,11 +10,11 @@ import java.util.ArrayList;
import java.util.List;
public
-/**
+/*
* @author congtaowang
* @since 2020/12/14
*
- * 实时坐标
+ * 实时坐标数据处理中心
*/
class SnapshotLocationController {
@@ -40,16 +40,15 @@ class SnapshotLocationController {
sInstance = null;
}
- private Object readResolve() {
- // 阻止反序列化，必须实现 Serializable 接口
- return sInstance;
- }
-
private CloudLocationInfo mLastLocationInfo = null;
- private List< CloudLocationInfo > mLocationList = new ArrayList<>();
- private int mDataAccuracy = 0;
+ // GPS(1s1次) RTK(OS侧)缓存数据，
+ private final List< CloudLocationInfo > mLocationList = new ArrayList<>();
+ // adda 工控机数据缓存
+ private final List< CloudLocationInfo > mMachineCacheList = new ArrayList<>();
+
+ private int mDataAccuracy = 0;
private double mCurSpeed;
private double mCurLon;
private double mCurLat;
@@ -57,26 +56,23 @@ class SnapshotLocationController {
/**
* 同步从定位来的数据（也可能是rtk）
*
- * @param cli
+ * @param cli {@link CloudLocationInfo}
*/
public void syncLocationInfo( CloudLocationInfo cli ) {
if ( cli == null ) {
return;
}
mLastLocationInfo = cli;
- mCurSpeed = mLastLocationInfo.getSpeed();
- mCurLon = mLastLocationInfo.getLon();
- mCurLat = mLastLocationInfo.getLat();
+ mCurSpeed = cli.getSpeed();
+ mCurLon = cli.getLon();
+ mCurLat = cli.getLat();
mLocationList.add( cli );
}
- // adda 工控机数据缓存
- private List< CloudLocationInfo > mMachineCacheList = new ArrayList<>();
-
/**
* 同步从工控机来的数据
*
- * @param data
+ * @param data JSON结构化数据
*/
public void syncAdasLocationInfo( JSONObject data ) {
if ( data == null ) {
@@ -105,15 +101,15 @@ class SnapshotLocationController {
mLastLocationInfo = cloudLocationInfo;
mMachineCacheList.add( cloudLocationInfo );
- mCurSpeed = mLastLocationInfo.getSpeed();
- mCurLon = mLastLocationInfo.getLon();
- mCurLat = mLastLocationInfo.getLat();
+ mCurSpeed = cloudLocationInfo.getSpeed();
+ mCurLon = cloudLocationInfo.getLon();
+ mCurLat = cloudLocationInfo.getLat();
}
/**
* 获取某一段时间内的坐标集合
*
- * @return
+ * @return 坐标合集
*/
public List< CloudLocationInfo > getSendLocationData() {
@@ -144,7 +140,7 @@ class SnapshotLocationController {
/**
* 数据精度类型，目前按照数据来源标志
*
- * @return
+ * @return 精度
*/
public int getDataAccuracy() {
Logger.d( TAG, "upload loc accuracy = %s", mDataAccuracy );
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/Trigonometric.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/Trigonometric.java
new file mode 100644
index 0000000000..61f5a5183f
--- /dev/null
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/Trigonometric.java
@@ -0,0 +1,53 @@
+package com.mogo.module.common.utils;
+
+import com.mogo.map.MogoLatLng;
+
+/**
+ * @author liujing
+ * @description 描述
+ * @since: 2021/4/13
+ */
+public class Trigonometric {
+ private final static double radius_b = 6378137;//大半径
+ private final static double radius_s = 6356725;//小半径
+ private static double mRadLo;
+ private static double mRadLa;
+ private static double Ec;
+ private static double Ed;
+
+ /**
+ * 计算两点间的角度
+ */
+ public static double getAngle(double lon1, double lat1, double lon2,
+ double lat2) {
+ double fLat = Math.PI * (lat1) / 180.0;
+ double fLng = Math.PI * (lon1) / 180.0;
+ double tLat = Math.PI * (lat2) / 180.0;
+ double tLng = Math.PI * (lon2) / 180.0;
+
+ double degree = (Math.atan2(Math.sin(tLng - fLng) * Math.cos(tLat), Math.cos(fLat) * Math.sin(tLat) -
+ Math.sin(fLat) * Math.cos(tLat) * Math.cos(tLng - fLng))) * 180.0 / Math.PI;
+ if (degree >= 0) {
+ return degree;
+ } else {
+ return 360 + degree;
+ }
+ }
+
+ /**
+ * 根据角度获取指定距离点的经纬度
+ */
+ public static MogoLatLng getNewLocation(MogoLatLng st, double distance, double angle) {
+ mRadLo = st.getLon() * Math.PI / 180.;
+ mRadLa = st.getLat() * Math.PI / 180.;
+ Ec = radius_s + (radius_b - radius_s) * (90. - st.lat) / 90;
+ Ed = Ec * Math.cos(mRadLa);
+
+ double dx = distance * Math.sin(Math.toRadians(angle));
+ double dy = distance * Math.cos(Math.toRadians(angle));
+ double lon_new = (dx / Ed + mRadLo) * 180. / Math.PI;
+ double lat_new = (dy / Ec + mRadLa) * 180. / Math.PI;
+ return new MogoLatLng(lat_new, lon_new);
+ }
+
+}
diff --git a/modules/mogo-module-common/src/main/res/layout/module_common_warning_marker_bottom.xml b/modules/mogo-module-common/src/main/res/layout/module_common_warning_marker_bottom.xml
index 1ec9b2b6ab..1bc7234fa3 100644
--- a/modules/mogo-module-common/src/main/res/layout/module_common_warning_marker_bottom.xml
+++ b/modules/mogo-module-common/src/main/res/layout/module_common_warning_marker_bottom.xml
@@ -1,12 +1,12 @@
+ android:layout_height="match_parent"
+ android:orientation="vertical">
+ android:src="@drawable/common_marker_bottom_floor" />
\ No newline at end of file
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
index 9a0d9d421c..ca1b0bb7c4 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
@@ -109,11 +109,6 @@ public class MogoServices implements IMogoMapListener,
return InstanceHolder.INSTANCE;
}
- private Object readResolve() {
- // 阻止反序列化，必须实现 Serializable 接口
- return InstanceHolder.INSTANCE;
- }
-
private static final String TAG = "MogoServices";
/**
@@ -238,7 +233,7 @@ public class MogoServices implements IMogoMapListener,
/**
* 手动刷新回调
*/
- private RefreshCallback mCustomRefreshCallback = new RefreshCallback< MarkerResponse >() {
+ private final RefreshCallback mCustomRefreshCallback = new RefreshCallback< MarkerResponse >() {
@Override
public void onSuccess( MarkerResponse o ) {
MapMarkerManager.getInstance().onSyncMarkerResponse( o );
@@ -616,16 +611,13 @@ public class MogoServices implements IMogoMapListener,
private int getQueryRadius() {
mCameraSouthWestPosition = mUiController.getCameraSouthWestPosition();
mCameraNorthEastPosition = mUiController.getCameraNorthEastPosition();
- int radius = 0;
+ int radius;
if ( mIsVertical ) {
radius = ( ( int ) ( getMapCameraFactWidth() / 2 ) );
} else {
radius = ( ( int ) ( getMapCameraFactHeight() / 2 ) );
}
- if ( radius < 1000 ) {
- return 1_000;
- }
- return radius;
+ return Math.max(radius, 1000);
}
/**
@@ -633,7 +625,7 @@ public class MogoServices implements IMogoMapListener,
*/
private boolean invokeRefreshWhenTranslationByUser( MogoLatLng latLng ) {
try {
- float factor = 0.0f;
+ float factor;
if ( mIsVertical ) {
factor = getMapCameraFactWidth();
} else {
@@ -697,7 +689,7 @@ public class MogoServices implements IMogoMapListener,
/**
* 首次定位成功后，执行道路事件的刷新
*
- * @param point
+ * @param point {@link MogoLatLng}
*/
private void startFirstLocationRequest( MogoLatLng point ) {
mLastAutoRefreshLocation = point;
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
index 185291fbef..dd926dbb11 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
@@ -58,19 +58,21 @@ public class MogoRTKLocation {
return criteria;
}
- private LocationListener locationListener = new LocationListener() {
+ private final LocationListener locationListener = new LocationListener() {
@Override
public void onLocationChanged( Location location ) {
if ( location != null ) {
CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
- cloudLocationInfo.setAlt( location.getAltitude() );
- cloudLocationInfo.setHeading( location.getBearing() );
- cloudLocationInfo.setLat( location.getLatitude() );
- cloudLocationInfo.setLon( location.getLongitude() );
- cloudLocationInfo.setSpeed( location.getSpeed() );
- cloudLocationInfo.setSatelliteTime( location.getTime() );
- cloudLocationInfo.setSystemTime( System.currentTimeMillis() );
- SnapshotLocationController.getInstance().syncLocationInfo( cloudLocationInfo );
+ if(location.getLatitude() != 0.0 && location.getLongitude() != 0.0){
+ cloudLocationInfo.setAlt( location.getAltitude() );
+ cloudLocationInfo.setHeading( location.getBearing() );
+ cloudLocationInfo.setLat( location.getLatitude() );
+ cloudLocationInfo.setLon( location.getLongitude() );
+ cloudLocationInfo.setSpeed( location.getSpeed() );
+ cloudLocationInfo.setSatelliteTime( location.getTime() );
+ cloudLocationInfo.setSystemTime( System.currentTimeMillis() );
+ SnapshotLocationController.getInstance().syncLocationInfo( cloudLocationInfo );
+ }
} else {
Logger.e( TAG, "location == null" );
}
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
index 1f736ccfcd..2f5c7607ea 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
@@ -100,20 +100,19 @@ public class V2XWaringManager {
if (v2XWarnMessageListener != null) {
V2XServiceManager
.getMoGoSocketManager()
- .unregisterOnMessageListener(401011, v2XWarnMessageListener);
+ .unregisterOnMessageListener(10116, v2XWarnMessageListener);
}
}
/**
- * 道路事件，行人 TODO type
+ * 道路预警 弱势群体事件，行人 TODO type
*/
private void registerWarnListener() {
v2XWarnMessageListener = new V2XWarnMessageListener();
- // 道路事件，在线车辆绘制
V2XServiceManager
.getMoGoSocketManager()
.registerOnMessageListener(
- 401011,
+ 10116,
v2XWarnMessageListener );
}
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XWarnMessageListener.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XWarnMessageListener.java
index fd0d2541c0..20c18f26c1 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XWarnMessageListener.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XWarnMessageListener.java
@@ -20,12 +20,13 @@ public class V2XWarnMessageListener implements IMogoOnMessageListener ");
//Logger.d(MODULE_NAME, "V2XMessageListener_401011==V2X地图气泡数据刷新：\n" + GsonUtil.jsonFromObject(response));
V2XUtils.runOnBackgroundThread(() -> {
// 解析不同的Marker类型，然后对应的进行绘制
if (info != null) {
// 解析存储道路事件 liyz
- Log.d(V2XConst.LOG_NAME_WARN, "V2XWarnMessageListener onMsgReceived ----> ");
+ Log.d(V2XConst.LOG_NAME_WARN, "V2XWarnMessageListener onMsgReceived --22--> ");
V2XServiceManager.getMoGoV2XCloundDataManager().analysisV2XCloundDataEvent(info);
}
});
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
index 6a7ff1d86d..882f35b916 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
@@ -11,7 +11,9 @@ import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.drawer.V2XWarnDataDrawer;
+import com.mogo.module.common.entity.MarkerShowEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
+import com.mogo.module.common.utils.Trigonometric;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.receiver.MogoReceiver;
import com.mogo.module.v2x.MoGoV2XServicePaths;
@@ -19,7 +21,6 @@ import com.mogo.module.v2x.V2XConst;
import com.mogo.module.v2x.V2XServiceManager;
import com.mogo.module.v2x.entity.model.DrawLineInfo;
import com.mogo.module.v2x.manager.IMoGoV2XCloundDataManager;
-import com.mogo.module.v2x.utils.LocationUtils;
import com.mogo.utils.UiThreadHandler;
import com.mogo.utils.WorkThreadHandler;
@@ -39,7 +40,10 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
private boolean isSelfLineClear;
private List fillPoints = new ArrayList();//停止线经纬度合集
private boolean isFirstLocation = false;
- private MogoLatLng carLocation;
+ private MogoLatLng carLocation = new MogoLatLng(
+ MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(),
+ MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon()
+ );
private static long showTime = 0;
@@ -63,7 +67,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
isFirstLocation = false;
if (cloundWarningInfo.getDirection() == 1) { //前方
- MogoLatLng newLocation = LocationUtils.getNewLocation((MogoLatLng) fillPoints.get(0), 80, cloundWarningInfo.getAngle());
+ MogoLatLng newLocation = Trigonometric.getNewLocation((MogoLatLng) fillPoints.get(0), 80, cloundWarningInfo.getAngle());
//停止线前方画线
WorkThreadHandler.getInstance().postDelayed(() -> {
//二轮车和行人的渲染和移动
@@ -116,7 +120,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
}
/**
- * 绘制红色区域(停止线继续前行的预警区域) TODO 需要实时给行人当前位置
+ * 车辆行驶正前方绘制红色区域(停止线继续前行的预警区域) TODO 需要实时给行人当前位置
*/
private void drawStopLine(V2XWarningEntity info, MogoLatLng mogoLatLng) {
if (info != null) {
@@ -126,7 +130,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
Log.d(V2XConst.LOG_NAME_WARN, " drawStopLine endLatlng lon =" + endLatlng.lon + "--lat =" + endLatlng.lat
+ "--startLatlng lon = " + startLatlng.lon + "-lat = " + startLatlng.lat);
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
- MogoLatLng addMiddleLoc = LocationUtils.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
+ MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
if (polyLine != null) {
Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine polyLine != null");
polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
@@ -150,7 +154,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
/**
- * 目标物与预碰撞点连线,并且更新数据 TODO 需要实时给行人当前位置
+ * 侧方目标物与预碰撞点连线,并且更新数据 TODO 需要实时给行人当前位置
*/
private void drawOtherObjectLine(V2XWarningEntity info) {
if (info != null) {
@@ -158,7 +162,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
MogoLatLng startLatlng = new MogoLatLng(info.getLat(), info.getLon());
MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon());
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
- MogoLatLng addMiddleLoc = LocationUtils.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
+ MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
if (polyLine != null) {
Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
@@ -182,6 +186,21 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
}
}
+ //侧面目标物与碰撞点之间添加多个小箭头
+ private void addArrows(MogoLatLng startLatLng, MogoLatLng endLatLng) {
+ MarkerShowEntity markerShowEntity = new MarkerShowEntity();
+ float distance = CoordinateUtils.calculateLineDistance(
+ startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat);
+ if (distance > 5) {
+ int count = (int) (distance / 5);
+ for (int i = 0; i < count; i++) {
+ MogoLatLng newLo = Trigonometric.getNewLocation(
+ startLatLng, 5 * i, mCloundWarningInfo.getAngle());
+ V2XWarnDataDrawer.getInstance().drawerMarkerWithLocation(markerShowEntity, newLo);
+ }
+ }
+ }
+
@Override
public void clearALLPOI() {
@@ -225,7 +244,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? carLocation.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == 1 ? carLocation.lon : mCloundWarningInfo.getCollisionLon());
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
- addMiddleLoc = LocationUtils.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
+ addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
Log.d(V2XConst.LOG_NAME_WARN, "drawSlefCarLine lon = " + carLocation.lon + "---lat = " + carLocation.lat);
isFirstLocation = true;
}
@@ -265,11 +284,11 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
float average = distance / 3;
//两点间的角度
- double angle = LocationUtils.getAngle(x.lon, x.lat, y.lon, y.lat);
+ double angle = Trigonometric.getAngle(x.lon, x.lat, y.lon, y.lat);
//根据距离和角度获取下个点的经纬度
fillPoints.add(x);
for (int i = 1; i < 3; i++) {
- MogoLatLng newLocation = LocationUtils.getNewLocation(x, average * i, angle);
+ MogoLatLng newLocation = Trigonometric.getNewLocation(x, average * i, angle);
fillPoints.add(newLocation);
}
fillPoints.add(y);
@@ -280,7 +299,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
}
private MogoLatLng getMogoLat(MogoLatLng latlng) {
- MogoLatLng newLocation = LocationUtils.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getDirection());
+ MogoLatLng newLocation = Trigonometric.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getDirection());
return newLocation;
}
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 75bb3d4554..9f3f54f6ce 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
@@ -16,6 +16,7 @@ import com.mogo.module.common.drawer.marker.SimpleWindow3DAdapter;
import com.mogo.module.common.entity.MarkerLocation;
import com.mogo.module.common.entity.MarkerShowEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
+import com.mogo.module.common.utils.Trigonometric;
import com.mogo.module.v2x.R;
import com.mogo.module.v2x.V2XConst;
import com.mogo.module.v2x.V2XServiceManager;
@@ -99,7 +100,7 @@ public class V2XWarningMarker implements IV2XMarker {
carlo = new MogoLatLng(lat, lon);
}
//自车行驶方向的前方*米的经纬度,该经纬度在停止线上
- MogoLatLng drawStopLineLon = LocationUtils.getNewLocation(carlo, mMarkerEntity.getStopLineDistance(), mMarkerEntity.getAngle());
+ MogoLatLng drawStopLineLon = Trigonometric.getNewLocation(carlo, mMarkerEntity.getStopLineDistance(), mMarkerEntity.getAngle());
Log.d(TAG, "2D资源绘" + drawStopLineLon);
MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
.latitude(drawStopLineLon.getLat())
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/LocationUtils.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/LocationUtils.java
index 6f6dbc047a..088586d229 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/LocationUtils.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/LocationUtils.java
@@ -27,12 +27,6 @@ import com.mogo.utils.network.utils.GsonUtil;
*/
public class LocationUtils {
private static final String TAG = "LocationUtils";
- private final static double radius_b = 6378137;//大半径
- private final static double radius_s = 6356725;//小半径
- private static double mRadLo;
- private static double mRadLa;
- private static double Ec;
- private static double Ed;
public static void geoCodeSearch(MogoLocation location, IMogoGeoSearchListener listener) {
MogoRegeocodeQuery mogoRegeocodeQuery = new MogoRegeocodeQuery();
@@ -93,42 +87,6 @@ public class LocationUtils {
return latLon;
}
- /**
- * 计算两点间的角度
- */
- public static double getAngle(double lon1, double lat1, double lon2,
- double lat2) {
- double fLat = Math.PI * (lat1) / 180.0;
- double fLng = Math.PI * (lon1) / 180.0;
- double tLat = Math.PI * (lat2) / 180.0;
- double tLng = Math.PI * (lon2) / 180.0;
-
- double degree = (Math.atan2(Math.sin(tLng - fLng) * Math.cos(tLat), Math.cos(fLat) * Math.sin(tLat) -
- Math.sin(fLat) * Math.cos(tLat) * Math.cos(tLng - fLng))) * 180.0 / Math.PI;
- if (degree >= 0) {
- return degree;
- } else {
- return 360 + degree;
- }
- }
-
- /**
- * 根据角度获取指定距离点的经纬度
- */
- public static MogoLatLng getNewLocation(MogoLatLng st, double distance, double angle) {
- mRadLo = st.getLon() * Math.PI / 180.;
- mRadLa = st.getLat() * Math.PI / 180.;
- Ec = radius_s + (radius_b - radius_s) * (90. - st.lat) / 90;
- Ed = Ec * Math.cos(mRadLa);
-
- double dx = distance * Math.sin(Math.toRadians(angle));
- double dy = distance * Math.cos(Math.toRadians(angle));
- double lon_new = (dx / Ed + mRadLo) * 180. / Math.PI;
- double lat_new = (dy / Ec + mRadLa) * 180. / Math.PI;
- return new MogoLatLng(lat_new, lon_new);
- }
-
-
/**
* 获取传入的经纬度在车辆的什么位置
*
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 0726219d01..252d77318b 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -138,10 +138,16 @@ public class MogoADASController implements IMogoADASController {
super.handleMessage( msg );
final long start = System.currentTimeMillis();
ADASCarStateInfo stateInfo = GsonUtil.objectFromJson( ( ( String ) msg.obj ), ADASCarStateInfo.class );
- Logger.d( "ADAS-LOC-timer", "upd 到 aidl 传输耗时：%s", start - Long.valueOf( stateInfo.getValues().getStartReceiverDataTime() ) );
if ( stateInfo == null || stateInfo.getValues() == null ) {
+ Logger.d(TAG,"ADAS-LOC-timer","upd 到 aidl 传输数据 stateInfo or stateInfo.getValues() is null");
return;
}
+ if(stateInfo.getValues().getStartReceiverDataTime() != null){
+ Logger.d( "ADAS-LOC-timer", "upd 到 aidl 传输耗时：%s", start - Long.valueOf( stateInfo.getValues().getStartReceiverDataTime() ) );
+ }else{
+ Logger.d( "ADAS-LOC-timer", "upd 到 aidl 传输耗时时间字段 startReceiverDataTime is null");
+ }
+
mLastLon = stateInfo.getValues().getLon();
mLastLat = stateInfo.getValues().getLat();
if ( mMogoAdasCarDataCallback != null ) {