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下沉周边交通元素绘制逻辑

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This commit is contained in:
董宏宇
2021-08-18 15:56:35 +08:00
parent 5f542a0f63
commit 75aed9e6cd
11 changed files with 472 additions and 27 deletions
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1
.idea/misc.xml generated
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@@ -13,6 +13,7 @@
<map>
<entry key="../../../../../layout/custom_preview.xml" value="0.19947916666666668" />
<entry key="modules/mogo-module-hmi/src/main/res/layout/fragment_warning.xml" value="0.34427083333333336" />
<entry key="modules/mogo-module-hmi/src/main/res/layout/view_traffic_light_vr.xml" value="6.0" />
<entry key="modules/mogo-module-service/src/main/res/drawable/bg_adas_dispatch.xml" value="0.184" />
<entry key="modules/mogo-module-service/src/main/res/drawable/bg_adas_dispatch_affirm.xml" value="0.19166666666666668" />
<entry key="modules/mogo-module-service/src/main/res/drawable/bg_map_marker_blue_info.xml" value="0.184" />

2
README.md
View File

@@ -19,7 +19,7 @@ adb shell am broadcast -a com.hmi.v2x.notification --ez v2xIsShow false --es ta
adb shell am broadcast -a com.hmi.v2x.trafficlight --ez trafficLightIsShow true --ei trafficLightCheckType 1
adb shell am broadcast -a com.hmi.v2x.trafficlight --ez trafficLightIsShow false
// 控制红绿灯
// 控制限速
adb shell am broadcast -a com.hmi.v2x.limitingvelocity --ez limitingVelocityIsShow true --ei limitingVelocitySpeed 60
adb shell am broadcast -a com.hmi.v2x.limitingvelocity --ez limitingVelocityIsShow false

10
modules/mogo-module-common/build.gradle
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@@ -1,6 +1,10 @@
apply plugin: 'com.android.library'
apply plugin: 'kotlin-android'
apply plugin: 'kotlin-android-extensions'
plugins {
id 'com.android.library'
id 'kotlin-android'
id 'kotlin-android-extensions'
id 'kotlin-kapt'
id 'com.alibaba.arouter'
}
android {
compileSdkVersion rootProject.ext.android.compileSdkVersion

201
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt Normal file
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@@ -0,0 +1,201 @@
package com.mogo.module.common.drawer
import android.annotation.SuppressLint
import android.content.Context
import android.os.Handler
import android.os.Message
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.constants.DataTypes
import com.mogo.module.common.drawer.bean.TrafficData
import com.mogo.utils.WorkThreadHandler
import java.util.concurrent.ConcurrentHashMap
/**
* @author xiaoyuzhou
* @date 2021/8/18 11:12 上午
* 交通元素 2D\3D绘制
*/
@SuppressLint("StaticFieldLeak")
object TrafficMarkerDrawer {
private val TAG = "TrafficMarkerDrawer"
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 mTrafficMap = ConcurrentHashMap<String, TrafficData>()
// 地图内部资源md5缓存，便于资源复用
private val mMarkerCachesResMd5Values = ConcurrentHashMap<String, String>()
// 上一帧数据的缓存，用来做移动动画
private val mMarkersCaches = ConcurrentHashMap<String, IMogoMarker>()
// 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_traffic_drawer").looper) {
override fun handleMessage(msg: Message) {
super.handleMessage(msg)
drawerTrafficInfo()
// 延时50毫秒重复发送自己，定时轮询进行车辆绘制，可以及时将已经不存在车辆删除
sendEmptyMessageDelayed(0, 100L)
}
}
init {
mContext = AbsMogoApplication.getApp()
mDrawerHandler.sendEmptyMessageDelayed(1, 0L)
}
/**
* 添加识别的数据
*/
fun addTrafficInfo(trafficData: TrafficData) {
mTrafficMap[trafficData.uuid] = trafficData
}
/**
* 更新识别数据,V2V预警的时候需要修改车辆颜色
*/
fun updateITrafficInfo(trafficData: TrafficData) {
mTrafficMap[trafficData.uuid] = trafficData
}
/**
* 移除识别的数据
*/
fun removeCvxRvInfoIndInfo(key: String) {
if (mTrafficMap.containsKey(key)) {
mTrafficMap.remove(key)
}
}
/**
* 绘制
*/
private fun drawerTrafficInfo() {
// 数据为空的时候清除所有数据
if (mTrafficMap.isEmpty()) {
mMarkersCaches.forEach {
it.value.remove()
}
mMarkersCaches.clear()
} else {
// 循环绘制识别的数据
mTrafficMap.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(trafficData: TrafficData) {
if (trafficData.type != null) {
val resId: Int = trafficData.type.traffic3DIconId
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(trafficData.heading.toFloat())
.position(
MogoLatLng(
trafficData.lat,
trafficData.lon
)
)
// 修改颜色
when (trafficData.threatLevel) {
1 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
2 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FFD53EFF")
}
3 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FF3C45FF")
}
else -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
}
val marker = MogoApisHandler.getInstance().apis
.mapServiceApi
.getMarkerManager(mContext)
.addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
// 缓存3D资源
mMarkerCachesResMd5Values[resIdVal] = marker.markerResName
// 缓存数据
mMarkersCaches[trafficData.uuid] = marker
}
}
/**
* 带动画的修改Marker
*/
private fun changeDynamicMarker(
marker: IMogoMarker,
trafficData: TrafficData
) {
val resId: Int = trafficData.type.traffic3DIconId
val resIdVal = resId.toString() + ""
val options = marker.mogoMarkerOptions
options.resName(mMarkerCachesResMd5Values[resIdVal])
.icon3DRes(resId)
// 修改颜色
when (trafficData.threatLevel) {
1 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
2 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FFD53EFF")
}
3 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FF3C45FF")
}
else -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
}
marker.addDynamicAnchorPosition(
MogoLatLng(
trafficData.lat,
trafficData.lon
),
trafficData.heading.toFloat(),
stepTime
)
}
}

77
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/bean/TrafficData.java Normal file
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@@ -0,0 +1,77 @@
package com.mogo.module.common.drawer.bean;
import com.mogo.module.common.enums.TrafficTypeEnum;
/**
* @author xiaoyuzhou
* @date 2021/8/17 8:41 下午
* 交通元素数据，
*/
public class TrafficData {
/**
* 交通元素类型, 车、人、摩托、大巴车、卡车、自行车
*/
public TrafficTypeEnum type;
/**
* 识别物体唯一标识
*/
public String uuid;
/**
* 识别物体的纬度
*/
public double lat;
/**
* 识别物体的经度
*/
public double lon;
/**
* 车头朝向
*/
public double heading;
/**
* 系统时间
*/
public long systemTime;
/**
* 定位卫星时间
*/
public long satelliteTime;
/**
* 海拔
*/
public double alt;
/**
* 速度
*/
public double speed;
/**
* 莫顿码
*/
public long mortonCode;
/**
* 实际距离
* 使用distanceX和distanceY计算
*/
public double distance;
/**
* 危险等级
* range(0..3)
* 0x00: 保留
* 0x01: 模型原始颜色
* 0x02: 通知 -- 黄
* 0x03: 警告 -- 红
*/
public int threatLevel;
}

61
modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/TrafficTypeEnum.kt Normal file
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@@ -0,0 +1,61 @@
package com.mogo.module.common.enums
import com.mogo.module.common.R
/**
* @author xiaoyuzhou
* @date 2021/8/18 11:39 上午
* 交通元素类型
*/
enum class TrafficTypeEnum(
var type: Int,
var desc: String,
var traffic2DIconId: Int,
var traffic3DIconId: Int
) {
TYPE_TRAFFIC_ID_WEI_ZHI(
0,
"未知数据",
R.raw.tache,
R.raw.tache
),
TYPE_TRAFFIC_ID_PEOPLE(
1,
"人",
R.raw.people,
R.raw.people
),
TYPE_TRAFFIC_ID_BICYCLE(
2,
"自行车",
R.raw.zixingche,
R.raw.zixingche
),
TYPE_TRAFFIC_ID_TA_CHE(
3,
"他车",
R.raw.tachexiaoche,
R.raw.tachexiaoche
),
TYPE_TRAFFIC_ID_MOTO(
4,
"摩托",
R.raw.motorbike,
R.raw.motorbike
),
TYPE_TRAFFIC_ID_BUS(
6,
"大巴",
R.raw.bus,
R.raw.bus
),
TYPE_TRAFFIC_ID_TRUCK(
8,
"卡车",
R.raw.daba,
R.raw.daba
)
}

2
modules/mogo-module-common/src/main/java/com/mogo/module/common/enum/WarningTypeEnum.kt → modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/WarningTypeEnum.kt
View File

@@ -1,4 +1,4 @@
package com.mogo.module.common.enum
package com.mogo.module.common.enums
import com.mogo.module.common.R
import com.zhidao.support.obu.constants.ObuConstants

2
modules/mogo-module-hmi/src/main/java/com/mogo/module/hmi/receiver/V2XWarningBroadcastReceiver.kt
View File

@@ -4,7 +4,7 @@ import android.content.BroadcastReceiver
import android.content.Context
import android.content.Intent
import com.alibaba.android.arouter.launcher.ARouter
import com.mogo.module.common.enum.WarningTypeEnum
import com.mogo.module.common.enums.WarningTypeEnum
import com.mogo.module.hmi.WaringConst
import com.mogo.service.IMogoServiceApis
import com.mogo.service.MogoServicePaths

2
modules/mogo-module-hmi/src/main/java/com/mogo/module/hmi/ui/MoGoWarningFragment.kt
View File

@@ -8,7 +8,7 @@ import android.view.WindowManager
import android.view.animation.OvershootInterpolator
import com.mogo.commons.mvp.MvpFragment
import com.mogo.commons.voice.AIAssist
import com.mogo.module.common.enum.WarningTypeEnum
import com.mogo.module.common.enums.WarningTypeEnum
import com.mogo.module.hmi.R
import com.mogo.module.hmi.notification.WarningFloat
import com.mogo.module.hmi.notification.anim.DefaultAnimator

44
modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
View File

@@ -2,9 +2,9 @@ package com.mogo.module.obu.mogo
import android.content.Context
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.module.common.drawer.TrafficMarkerDrawer
import com.mogo.module.common.enums.WarningTypeEnum
import com.mogo.module.obu.mogo.utils.TrafficDataConvertUtils
import com.mogo.service.IMogoServiceApis
import com.mogo.service.MogoServicePaths
import com.mogo.service.warning.IMoGoWaringProvider
@@ -34,11 +34,6 @@ class MogoPrivateObuManager private constructor() {
val icw_data =
"02000114010000000000001effd7892b11a4440af70100142a03000907e506100e2917019000005662010a45000b0000220847162c000037970010000a17f6215c459478b6010347ac045000090a0006012c01f4009600080073007300730073000b000000000000000000000000000000002b000037780000247300003261000000000000426c827f47001200100000000000000000000021220000349a006c0010000a17f63ecb45947ba301030000332c0010000a17f642e945947bea010300004d580010000a17f6435545947e4e0103000054c40010000a17f6413a45947f96010300005c300010000a17f62c2845947d140103000070e40010000a17f5fdb14594786001030000992000060004ffec2710"
// 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
private var mContext: Context? = null
fun init(context: Context?) {
@@ -50,9 +45,6 @@ class MogoPrivateObuManager private constructor() {
// 获取预警模块的接口
mIMoGoWaringProvider = mMogoServiceApis!!.waringProviderApi
mObuRecognizedResultDrawer = ObuRecognizedResultDrawer()
mObuVulnerableGroupsDrawer = ObuVulnerableGroupsDrawer()
//自研obu
MogoObuManager.getInstance().connect(context, "192.168.1.199")
MogoObuManager.getInstance().registerListener(mogoObuListener)
@@ -118,8 +110,10 @@ class MogoPrivateObuManager private constructor() {
override fun onCvxRvInfoIndInfo(info: CvxRvInfoIndInfo) {
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxRvInfoIndInfo ------> $info")
mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU_RV", true) }
// 更新周边车辆
mObuRecognizedResultDrawer?.addCvxRvInfoIndInfo(info)
// 更新数据
TrafficDataConvertUtils.cvxRvInfoIndInfo2TrafficData(info)?.let {
TrafficMarkerDrawer.updateITrafficInfo(it)
}
}
// 道路事件预警信息：CVX_RTI_THREAT_IND 车与其他，obu与rsu
@@ -203,15 +197,21 @@ class MogoPrivateObuManager private constructor() {
when (info.status) {
// 添加
ObuConstants.STATUS.ADD -> {
mObuVulnerableGroupsDrawer?.addCvxRvInfoIndInfo(info)
// 更新数据
TrafficDataConvertUtils.cvxPtcInfoIndInfo2TrafficData(info)?.let {
TrafficMarkerDrawer.updateITrafficInfo(it)
}
}
// 删除
ObuConstants.STATUS.DELETE -> {
mObuVulnerableGroupsDrawer?.removeCvxPtcInfoIndInfo(info.id)
TrafficMarkerDrawer.removeCvxRvInfoIndInfo(info.id)
}
// 更新
else -> {
mObuVulnerableGroupsDrawer?.updateCvxPtcInfoIndInfo(info)
// 更新数据
TrafficDataConvertUtils.cvxPtcInfoIndInfo2TrafficData(info)?.let {
TrafficMarkerDrawer.updateITrafficInfo(it)
}
}
}
}
@@ -339,7 +339,7 @@ class MogoPrivateObuManager private constructor() {
*
* @param appId 使用WarningTypeEnum获取icon、提示内容、tts内容
*
* @see com.mogo.module.common.enum.WarningTypeEnum
* @see com.mogo.module.common.enums.WarningTypeEnum
*/
private fun handleSdkObu(
appId: Int,
@@ -466,19 +466,23 @@ class MogoPrivateObuManager private constructor() {
appId.toString()
)
//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(level, info)
TrafficDataConvertUtils.cvxV2vThreatIndInfo2TrafficData(info)?.let {
TrafficMarkerDrawer.updateITrafficInfo(it)
}
}
// 删除
ObuConstants.STATUS.DELETE -> {
// 移除顶部弹窗
mIMoGoWaringProvider?.disableWarningV2X(appId.toString())
// 移除地图元素
mObuRecognizedResultDrawer?.removeCvxRvInfoIndInfo(info.vehicle_id)
TrafficMarkerDrawer.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(level, info)
TrafficDataConvertUtils.cvxV2vThreatIndInfo2TrafficData(info)?.let {
TrafficMarkerDrawer.updateITrafficInfo(it)
}
}
}
}

97
modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/utils/TrafficDataConvertUtils.kt Normal file
View File

@@ -0,0 +1,97 @@
package com.mogo.module.obu.mogo.utils
import com.mogo.module.common.drawer.bean.TrafficData
import com.mogo.module.common.enums.TrafficTypeEnum
import com.zhidao.support.obu.model.CvxPtcInfoIndInfo
import com.zhidao.support.obu.model.CvxRvInfoIndInfo
import com.zhidao.support.obu.model.CvxV2vThreatIndInfo
/**
* @author xiaoyuzhou
* @date 2021/8/18 2:30 下午
*/
object TrafficDataConvertUtils {
/**
* OBU 远车 转换交通元素数据
*/
fun cvxRvInfoIndInfo2TrafficData(info: CvxRvInfoIndInfo): TrafficData? {
if (info.basic_info == null || info.basic_info.position == null || info.threat_infos != null) {
return null
}
val trafficData = TrafficData()
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE
trafficData.uuid = info.vehicle_id
trafficData.lat = info.basic_info.position.latitude
trafficData.lon = info.basic_info.position.longitude
trafficData.heading = info.basic_info.heading
trafficData.speed = info.basic_info.speed
// 判断车辆V2X预警级别，调整车辆颜色
if (!info.threat_infos.isNullOrEmpty()) {
trafficData.threatLevel = info.threat_infos.first().threat_level
}
return trafficData
}
/**
* OBU 预警事件 转换交通元素数据
*/
fun cvxV2vThreatIndInfo2TrafficData(info: CvxV2vThreatIndInfo): TrafficData? {
if (info.basic_info == null || info.basic_info.position == null || info.threat_info == null) {
return null
}
val trafficData = TrafficData()
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE
trafficData.uuid = info.vehicle_id
trafficData.lat = info.basic_info.position.latitude
trafficData.lon = info.basic_info.position.longitude
trafficData.heading = info.basic_info.heading
trafficData.speed = info.basic_info.speed
// 判断车辆V2X预警级别，调整车辆颜色
trafficData.threatLevel = info.threat_info.threat_level
return trafficData
}
/**
* OBU 弱势交通参与者信息 转换交通元素数据
*/
fun cvxPtcInfoIndInfo2TrafficData(info: CvxPtcInfoIndInfo): TrafficData? {
if (info.basic_info == null || info.basic_info.position == null || info.threat_infos != null) {
return null
}
val trafficData = TrafficData()
trafficData.uuid = info.id
trafficData.lat = info.basic_info.position.latitude
trafficData.lon = info.basic_info.position.longitude
trafficData.heading = info.basic_info.heading
trafficData.speed = info.basic_info.speed
when (info.ptc_type) {
// 未知
0x0 -> {
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI
}
// 非机动车
0x1 -> {
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE
}
// 行人
0x2 -> {
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE
}
}
// 判断车辆V2X预警级别，调整车辆颜色
if (!info.threat_infos.isNullOrEmpty()) {
trafficData.threatLevel = info.threat_infos.first().threat_level
}
return trafficData
}
}