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 2e875cb6b8..2ef39c0274 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 @@ -176,8 +176,6 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL markerShowEntity.setMarkerLocation(location); markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_STOP_LINE_DATA); IMogoMarker marker = drawStopLineMarker(markerShowEntity); - - } /** 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 790f7e7884..7be8e07801 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 @@ -58,7 +58,7 @@ 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 * */ - private MogoLatLng middleLocationInStopLine = new MogoLatLng(0,0); + private MogoLatLng middleLocationInStopLine = new MogoLatLng(0, 0); private static long showTime = 5000; private float bearing; @@ -75,8 +75,9 @@ public class V2XWarningMarker implements IV2XMarker { } public void drawLineWithEntity() { - showTime = mCloundWarningInfo.getShowTime() > 0 ? mCloundWarningInfo.getShowTime()*1000 : 5000; - Log.d(TAG, "显示时间为++" + String.valueOf(showTime)+"识别物类型:"+String.valueOf(mCloundWarningInfo.getType())); + showTime = mCloundWarningInfo.getShowTime() > 0 ? mCloundWarningInfo.getShowTime() * 1000 : 5000; + Log.d(TAG, "显示时间为++" + String.valueOf(showTime) + "识别物类型:" + + String.valueOf(mCloundWarningInfo.getType())); pointsBetween(); bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing(); isSelfLineClear = false; @@ -85,29 +86,28 @@ public class V2XWarningMarker implements IV2XMarker { if (fillPoints.size() > 0) { //存在停止线的情况 TODO middleLocationInStopLine = getMiddleLocationInStopLine(); //如果是正前方类型,红色绘制区域从停止线向前绘制50米 - MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine, 50, mCloundWarningInfo.getAngle()); + MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine, + 50, mCloundWarningInfo.getAngle()); //停止线前方画线 WorkThreadHandler.getInstance().postDelayed(() -> { //二轮车和行人的渲染和移动 V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA); V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo); //绘制识别物与交汇点连线，并且更新连线数据 - drawRedWarningLineFrontOfStopLine(mCloundWarningInfo, middleLocationInStopLine, warningLocation); + drawRedWarningLineFrontOfStopLine(mCloundWarningInfo, middleLocationInStopLine, + warningLocation); //添加停止线marker handleStopLine(); - if (carLocation.lat != 0 && carLocation.lon != 0){ + if (carLocation.lat != 0 && carLocation.lon != 0) { //自车画线 drawSelfCarLine(carLocation.lon, carLocation.lat, bearing); - }else { - Log.d(TAG,"自车定位数据为空carLocation == null"); + } else { + Log.d(TAG, "自车定位数据为空carLocation == null"); } }, 0); UiThreadHandler.postDelayed(() -> { - V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); - V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); - V2XServiceManager.getMoGoStopPolylineManager().clearLine(); - isSelfLineClear = true; + clearAllLine(); }, showTime); } else { //无停止线 @@ -118,24 +118,22 @@ public class V2XWarningMarker implements IV2XMarker { V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA); V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo); //车辆静止的时候 - if (carLocation.lat != 0 && carLocation.lon != 0){ + if (carLocation.lat != 0 && carLocation.lon != 0) { drawSelfCarLine(carLocation.lon, carLocation.lat, bearing); - }else { - Log.d(TAG,"数据为空carLocation == null"); + } else { + Log.d(TAG, "数据为空carLocation == null"); } }, 0); //延迟3秒清理线 UiThreadHandler.postDelayed(() -> { - V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); - V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); - isSelfLineClear = true; + clearAllLine(); }, showTime); } //预警蒙层 - MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING); - + MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection + (mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING); } /** @@ -146,8 +144,10 @@ public class V2XWarningMarker implements IV2XMarker { if (info != null) { IMogoPolyline polyLine = V2XServiceManager.getMoGoStopPolylineManager().getMogoStopPolyline(); MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon); - float distance = CoordinateUtils.calculateLineDistance(startLatLng.lon, startLatLng.lat, endLatlng.lon, endLatlng.lat); - MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng, distance / 2, mCloundWarningInfo.getAngle()); + float distance = CoordinateUtils.calculateLineDistance(startLatLng.lon, startLatLng.lat, + endLatlng.lon, endLatlng.lat); + MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng, distance / 2, + mCloundWarningInfo.getAngle()); Log.d(TAG, "红色区域起始点 = " + startLatLng.lon + "," + startLatLng.lat + "中间点坐标:" + addMiddleLoc.lon + "," + addMiddleLoc.lat + "终点" + endLatlng.lon + "," + endLatlng.lat); @@ -167,12 +167,21 @@ public class V2XWarningMarker implements IV2XMarker { lineInfo.setWidth(info.getRoadwidth() * 14 + 5); V2XServiceManager.getMoGoStopPolylineManager().drawStopPolyline(getContext(), lineInfo); } + UiThreadHandler.postDelayed(() -> { + clearAllLine(); + }, showTime); } else { - V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); - V2XServiceManager.getMoGoStopPolylineManager().clearLine(); + clearAllLine(); } } + public void clearAllLine() { + V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); + V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); + V2XServiceManager.getMoGoStopPolylineManager().clearLine(); + isSelfLineClear = true; + } + /** * 补点后的停止线经纬度合集 */ @@ -227,7 +236,8 @@ public class V2XWarningMarker implements IV2XMarker { } private MogoLatLng getMogoLat(MogoLatLng latlng) { - MogoLatLng newLocation = Trigonometric.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle()); + MogoLatLng newLocation = Trigonometric.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(), + mCloundWarningInfo.getAngle()); return newLocation; } @@ -235,37 +245,45 @@ 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 * */ private MogoLatLng getMiddleLocationInStopLine() { - Log.d(TAG, "计算停止线上的某个点" + String.valueOf(carLocation.lat + "," + String.valueOf(carLocation.lon))); + 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()); + MogoLatLng newLocation = Trigonometric.getNewLocation(carLocation, mCloundWarningInfo.getStopLineDistance(), + mCloundWarningInfo.getAngle()); return newLocation; } /** - * 自车为起点绘制(根据设计,前方行人/弱势交通参与者预警 getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP自车与停止线之间为蓝色预警;其他侧方预警自车与预碰撞点之间显示红色预警) + * 自车为起点绘制(根据设计,前方行人/弱势交通参与者预警 getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP + * 自车与停止线之间为蓝色预警;其他侧方预警自车与预碰撞点之间显示红色预警) + * lon 自车经度 + * lat 自车纬度 */ public void drawSelfCarLine(double lon, double lat, float bearing) { if (!isSelfLineClear) { IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline(); if (mCloundWarningInfo != null) { - MogoLatLng startLatlng = new MogoLatLng(0,0); - MogoLatLng endLatlng = new MogoLatLng(0,0); - MogoLatLng addMiddleLoc = new MogoLatLng(0,0); + MogoLatLng startLatlng = new MogoLatLng(0, 0); + MogoLatLng endLatlng = new MogoLatLng(0, 0); + MogoLatLng addMiddleLoc = new MogoLatLng(0, 0); if (!isFirstLocation) { carLocation = getMogoLat(new MogoLatLng(lat, lon)); isFirstLocation = true; } //绘制线的终点(在停止线上或者预碰撞点上) - endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(), - mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon()); + endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? + middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(), + mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? + middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon()); //自车位置 startLatlng = new MogoLatLng(lat, lon); float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat); //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)); + 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); @@ -285,8 +303,11 @@ public class V2XWarningMarker implements IV2XMarker { info.setDirection(mCloundWarningInfo.getDirection()); V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info); } + UiThreadHandler.postDelayed(() -> { + clearAllLine(); + }, showTime+3000); } else { - V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); + clearAllLine(); } } } @@ -323,7 +344,7 @@ public class V2XWarningMarker implements IV2XMarker { } } else { Log.e(V2XConst.LOG_NAME_WARN, "info == null"); - V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); + clearAllLine(); } } @@ -344,7 +365,6 @@ public class V2XWarningMarker implements IV2XMarker { } //延迟3秒清理线 UiThreadHandler.postDelayed(() -> { - V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS); }, showTime); diff --git a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_left.json b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_left.json index 2ed07eb3a8..6fe3edc623 100644 --- a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_left.json +++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_left.json @@ -16,6 +16,6 @@ "stopLineDistance": 60, "warningContent": "注意自行车", "heading": 0, - "showTime": 5000, + "showTime": 3, "roadwidth": 4.0 } \ No newline at end of file diff --git a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json index 381e3eadc8..0a48613c3c 100644 --- a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json +++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_pedestrians.json @@ -24,6 +24,6 @@ "stopLineDistance": 60, "warningContent": "小心行人", "heading": 0, - "showTime": 5000, + "showTime": 3, "roadwidth": 4.0 } \ No newline at end of file diff --git a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_right.json b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_right.json index c0a20d333c..6bba8cf023 100644 --- a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_right.json +++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data_right.json @@ -15,6 +15,6 @@ "stopLineDistance": 60, "warningContent": "注意摩托车", "heading": 0, - "showTime": 5000, + "showTime": 3, "roadwidth": 4.0 }