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[add] 预警目标物底层的红色圆圈位置-未完成

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This commit is contained in:
liujing
2021-04-13 20:03:30 +08:00
parent aa371e1d8c
commit 75c52c9f22
6 changed files with 76 additions and 59 deletions
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21
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
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@@ -12,6 +12,7 @@ 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.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 +20,6 @@ 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 +39,10 @@ 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 +66,7 @@ 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
@@ -126,7 +129,7 @@ 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));
@@ -158,7 +161,7 @@ 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));
@@ -225,7 +228,7 @@ 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 +268,11 @@ 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 +283,7 @@ 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;
}

3
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
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@@ -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())

42
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/LocationUtils.java
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@@ -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
*