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[fix] 预警划线不取消问题修复

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This commit is contained in:
liujing
2021-07-15 17:09:30 +08:00
parent 0a9a7163c8
commit 7d95479bcc
5 changed files with 60 additions and 42 deletions
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94
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
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@@ -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);