Merge remote-tracking branch 'origin/dev2_aiSdk' into dev2_aiSdk

2021-04-13 19:46:42 +08:00
parent 7081074ba0 ccd0c3a9d3
commit 8201a6830a
7 changed files with 158 additions and 65 deletions
--- 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
@@ -51,63 +51,67 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog

    @Override
    public void analysisV2XCloundDataEvent(V2XWarningEntity cloundWarningInfo) {
-        Log.d(V2XConst.LOG_NAME_WARN, "analysisV2XCloundDataEvent -----> ");
-        mCloundWarningInfo = cloundWarningInfo;
-        showTime = mCloundWarningInfo.getShowTime();
-        pointsBetween();
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+            Log.d(V2XConst.LOG_NAME_WARN, "analysisV2XCloundDataEvent -----> ");
+            mCloundWarningInfo = cloundWarningInfo;
+            showTime = mCloundWarningInfo.getShowTime();
+            pointsBetween();

-        //预警蒙层
-        MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getType(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
-        isSelfLineClear = false;
-        isFirstLocation = false;
+            //预警蒙层
+            MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getType(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
+            isSelfLineClear = false;
+            isFirstLocation = false;

-        if (cloundWarningInfo.getDirection() == 1) { //前方
-            MogoLatLng newLocation = LocationUtils.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
-                V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
-                //绘制识别物与交汇点连线，并且更新连线数据
-                drawStopLine(cloundWarningInfo, newLocation);
-                //添加停止线marker
-                handleStopLine();
-            }, 800);
+            if (cloundWarningInfo.getDirection() == 1) { //前方
+                MogoLatLng newLocation = LocationUtils.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
+                    V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
+                    //绘制识别物与交汇点连线，并且更新连线数据
+                    drawStopLine(cloundWarningInfo, newLocation);
+                    //添加停止线marker
+                    handleStopLine();
+                }, 500);

-            UiThreadHandler.postDelayed(() -> {
-                V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
-                V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
-                V2XServiceManager.getMoGoStopPolylineManager().clearLine();
-                isSelfLineClear = true;
-            }, showTime);
+                UiThreadHandler.postDelayed(() -> {
+                    V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
+                    V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+                    V2XServiceManager.getMoGoStopPolylineManager().clearLine();
+                    isSelfLineClear = true;
+                }, showTime);

-        } else { //左侧或者右侧
-            WorkThreadHandler.getInstance().postDelayed(() -> {
-                //绘制识别物与交汇点连线，并且更新连线数据
-                drawOtherObjectLine(cloundWarningInfo);
-                //二轮车和行人的渲染和移动
-                V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
-            }, 500);
+            } else { //左侧或者右侧
+                WorkThreadHandler.getInstance().postDelayed(() -> {
+                    //绘制识别物与交汇点连线，并且更新连线数据
+                    drawOtherObjectLine(cloundWarningInfo);
+                    //二轮车和行人的渲染和移动
+                    V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
+                }, 500);

-            //延迟3秒清理线
-            UiThreadHandler.postDelayed(() -> {
-                V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
-                V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
-                isSelfLineClear = true;
-            }, showTime);
+                //延迟3秒清理线
+                UiThreadHandler.postDelayed(() -> {
+                    V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
+                    V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+                    isSelfLineClear = true;
+                }, showTime);
+            }
        }
    }


    private void handleStopLine() {
-        for (int i = 0; i < fillPoints.size(); i++) {
-            V2XWarningEntity entity = new V2XWarningEntity();
-            MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
-            entity.setLat(latLng.lat);
-            entity.setLon(latLng.lon);
-            entity.setCollisionLat(mCloundWarningInfo.getCollisionLat());
-            entity.setCollisionLon(mCloundWarningInfo.getCollisionLon());
-            entity.heading = mCloundWarningInfo.heading;
-            V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
+        if (mCloundWarningInfo != null) {
+            for (int i = 0; i < fillPoints.size(); i++) {
+                V2XWarningEntity entity = new V2XWarningEntity();
+                MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
+                entity.setLat(latLng.lat);
+                entity.setLon(latLng.lon);
+                entity.setCollisionLat(mCloundWarningInfo.getCollisionLat());
+                entity.setCollisionLon(mCloundWarningInfo.getCollisionLon());
+                entity.heading = mCloundWarningInfo.heading;
+                V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
+            }
        }
    }

@@ -115,14 +119,14 @@ 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
     */
    private void drawStopLine(V2XWarningEntity info, MogoLatLng mogoLatLng) {
-        IMogoPolyline polyLine = V2XServiceManager.getMoGoStopPolylineManager().getMogoStopPolyline();
-        MogoLatLng startLatlng = new MogoLatLng(carLocation.lat, carLocation.lon);
-        MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon);
-        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());
        if (info != null) {
+            IMogoPolyline polyLine = V2XServiceManager.getMoGoStopPolylineManager().getMogoStopPolyline();
+            MogoLatLng startLatlng = new MogoLatLng(carLocation.lat, carLocation.lon);
+            MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon);
+            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());
            if (polyLine != null) {
                Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine polyLine != null");
                polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
@@ -140,7 +144,6 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
                V2XServiceManager.getMoGoStopPolylineManager().drawStopPolyline(getContext(), lineInfo);
            }
        } else {
-            Log.e(V2XConst.LOG_NAME_WARN, "drawStopLine info == null");
            V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
        }
    }
@@ -150,12 +153,12 @@ 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
     */
    private void drawOtherObjectLine(V2XWarningEntity info) {
-        IMogoPolyline polyLine = V2XServiceManager.getMoGoPersonWarnPolylineManager().getMogoPersonWarnPolyline();
-        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());
        if (info != null) {
+            IMogoPolyline polyLine = V2XServiceManager.getMoGoPersonWarnPolylineManager().getMogoPersonWarnPolyline();
+            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());
            if (polyLine != null) {
                Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
                polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
@@ -190,8 +193,14 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
    @Override
    public void onCarLocationChanged2(Location latLng) {
 //        Log.d(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude() + "---isSelfLineClear = " + isSelfLineClear);
-        //当行人经纬度交点 开始画线，否则清理
-        mCloundWarningInfo.setCarLocation(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+            //当行人经纬度交点 开始画线，否则清理
+            if (mCloundWarningInfo != null) {
+                mCloundWarningInfo.setCarLocation(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
+            }
+            drawSlefCarLine(latLng);
+        }
+        carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
        drawSlefCarLine(latLng);
    }

@@ -237,7 +246,6 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
                    V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
                }
            } else {
-                Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 mCloundWarningInfo == null");
                V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
            }
        }
--- 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
@@ -100,7 +100,7 @@ public class V2XWarningMarker implements IV2XMarker {
        }
        //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());
-        Log.d(TAG, "2D资源绘制停止线" + drawStopLineLon);
+        Log.d(TAG, "2D资源绘" + drawStopLineLon);
        MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
                .latitude(drawStopLineLon.getLat())
                .longitude(drawStopLineLon.getLon())