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Merge branch 'de' into qa_hengyang_base

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liujing
2021-07-05 19:29:41 +08:00
parent 2da31d8c75 528f485a76
commit 911d328aa9
4 changed files with 0 additions and 423 deletions
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14
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java
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@@ -11,7 +11,6 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.v2x.alarm.V2XCalculateServer;
import com.mogo.module.v2x.manager.IMoGoPersonWarnPolylineManager;
import com.mogo.module.v2x.manager.IMoGoStopPolylineManager;
import com.mogo.module.v2x.manager.IMoGoV2XCloundDataManager;
import com.mogo.module.v2x.manager.IMoGoV2XMarkerManager;
import com.mogo.module.v2x.manager.IMoGoV2XPolylineManager;
import com.mogo.module.v2x.manager.IMoGoV2XStatusManager;
@@ -45,9 +44,6 @@ import com.mogo.service.windowview.IMogoWindowManager;
import com.zhidao.carchattingprovider.CallChattingProviderConstant;
import com.zhidao.carchattingprovider.ICarsChattingProvider;
import java.util.ArrayList;
import java.util.List;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
@@ -109,7 +105,6 @@ public class V2XServiceManager {
private static IMoGoWarnPolylineManager moGoWarnPolylineManager;
private static IMoGoPersonWarnPolylineManager moGoPersonWarnPolylineManager;
private static IMoGoStopPolylineManager moGoStopPolylineManager;
private static IMoGoV2XCloundDataManager moGoV2XCloundDataManager;
private V2XServiceManager() {
@@ -165,7 +160,6 @@ public class V2XServiceManager {
moGoV2XMarkerManager = (IMoGoV2XMarkerManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_MARKER_MANAGER).navigation(context);
moGoV2XPolylineManager = (IMoGoV2XPolylineManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_POLYLINE_MANAGER).navigation(context);
moGoWarnPolylineManager = (IMoGoWarnPolylineManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_WARN_POLYLINE_MANAGER).navigation(context);
moGoV2XCloundDataManager = (IMoGoV2XCloundDataManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_WARN_CLOUND_DATA_MANAGER).navigation(context);
moGoPersonWarnPolylineManager = (IMoGoPersonWarnPolylineManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_PERSON_WARN_POLYLINE_MANAGER).navigation(context);
moGoStopPolylineManager = (IMoGoStopPolylineManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_STOP_POLYLINE_MANAGER).navigation(context);
@@ -337,14 +331,6 @@ public class V2XServiceManager {
V2XServiceManager.mIMogoADASController = mIMogoADASController;
}
public static IMoGoV2XCloundDataManager getMoGoV2XCloundDataManager() {
return moGoV2XCloundDataManager;
}
public static void setMoGoV2XCloundDataManager(IMoGoV2XCloundDataManager moGoV2XCloundDataManager) {
V2XServiceManager.moGoV2XCloundDataManager = moGoV2XCloundDataManager;
}
public static IMoGoPersonWarnPolylineManager getMoGoPersonWarnPolylineManager() {
return moGoPersonWarnPolylineManager;
}

21
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_401013.java
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@@ -1,21 +0,0 @@
package com.mogo.module.v2x.listener;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.service.connection.IMogoOnMessageListener;
/**
* @author liujing
* @description 车路云—场景预警-云下发数据监听 前车/行人/摩托车/盲区碰撞预警
* @since: 2021/3/31
*/
public class V2XMessageListener_401013 implements IMogoOnMessageListener<V2XWarningEntity> {
@Override
public Class target() {
return null;
}
@Override
public void onMsgReceived(V2XWarningEntity obj) {
}
}

21
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/IMoGoV2XCloundDataManager.java
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@@ -1,21 +0,0 @@
package com.mogo.module.v2x.manager;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.module.common.entity.V2XWarningEntity;
/**
* desc: V2X 处理云端预警消息
*/
public interface IMoGoV2XCloundDataManager extends IProvider {
/**
* 处理下发数据
*/
void analysisV2XCloundDataEvent(V2XWarningEntity cloundWarningInfo);
/**
* 清除 所有的 POI
*/
void clearALLPOI();
}

367
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
View File

@@ -1,367 +0,0 @@
package com.mogo.module.v2x.manager.impl;
import android.content.Context;
import android.location.Location;
import android.util.Log;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.map.MogoLatLng;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
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;
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.listener.V2XLocationListener;
import com.mogo.module.v2x.manager.IMoGoV2XCloundDataManager;
import com.mogo.module.v2x.scenario.scene.warning.V2XFrontWarningScenario;
import com.mogo.utils.UiThreadHandler;
import com.mogo.utils.WorkThreadHandler;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;
import static com.mogo.module.common.entity.V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_TOP;
import static com.mogo.module.v2x.V2XServiceManager.getContext;
/**
* desc : V2X 服务端下发数据处理 点的绘制
*/
@Route(path = MoGoV2XServicePaths.PATH_V2X_WARN_CLOUND_DATA_MANAGER)
public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMogoCarLocationChangedListener2 {
private static String WARNING_ARROWS = "WARNING_ARROWS";
private V2XWarningEntity mCloundWarningInfo;
private static String TAG = "MoGoV2XCloundDataManager";
private boolean isSelfLineClear = true;//绘制线是否已被清除
private List fillPoints = new ArrayList();//停止线经纬度合集
private boolean isFirstLocation = false;
private MogoLatLng carLocation = new MogoLatLng(
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(),
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon()
);
/*
* 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;
private V2XFrontWarningScenario mV2XScenario;
private static long showTime = 4000;
private float bearing;
@Override
public void init(Context context) {
MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
.registerCarLocationChangedListener(TAG, this);
}
@Override
public void analysisV2XCloundDataEvent(V2XWarningEntity cloundWarningInfo) {
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
mCloundWarningInfo = cloundWarningInfo;
showTime = mCloundWarningInfo.getShowTime();
pointsBetween();
bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();
//顶部弹框
if (mV2XScenario == null) {
mV2XScenario = new V2XFrontWarningScenario();
}
// mV2XScenario.setWarningEntity(cloundWarningInfo);
mV2XScenario.init(null);
//预警蒙层
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
isSelfLineClear = false;
isFirstLocation = false;
V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
if (cloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP) { //前方 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, cloundWarningInfo.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(cloundWarningInfo);
//绘制识别物与交汇点连线，并且更新连线数据
drawRedWarningLineFrontOfStopLine(cloundWarningInfo, middleLocationInStopLine, warningLocation);
//添加停止线marker
handleStopLine();
//自车画线
drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
}, 500);
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
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
//车辆静止的时候
drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
}, 500);
//延迟3秒清理线
UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
isSelfLineClear = true;
}, showTime);
}
}
}
/**
* 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)
*/
private void drawSelfCarLine(double lon, double lat, float bearing) {
if (!isSelfLineClear) {
IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
if (mCloundWarningInfo != null) {
MogoLatLng startLatlng = null;
MogoLatLng endLatlng = null;
MogoLatLng addMiddleLoc = null;
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());
//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));
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);
if (mogoPolyline != null) {
mogoPolyline.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
mogoPolyline.setTransparency(0.5f);
} else {
DrawLineInfo info = new DrawLineInfo(); // 对象
Log.d(TAG, "安全区域的画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
List locations = new ArrayList();
locations.add(startLatlng);
locations.add(addMiddleLoc);
locations.add(endLatlng);
info.setLocations(locations);
info.setHeading(bearing);
info.setWidth(mCloundWarningInfo.getRoadwidth() * 14 + 5);
info.setDirection(mCloundWarningInfo.getDirection());
V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
}
} else {
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
}
}
}
/*
* 停止线绘制
* */
private void handleStopLine() {
try {
if (mCloundWarningInfo != null) {
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
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.heading = mCloundWarningInfo.heading;
V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
/**
* 场景如:车辆行驶正前方绘制红色区域(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 drawRedWarningLineFrontOfStopLine(V2XWarningEntity info, MogoLatLng
startLatLng, MogoLatLng mogoLatLng) {
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());
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);
if (polyLine != null) {
Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine polyLine != null");
polyLine.setPoints(Arrays.asList(startLatLng, addMiddleLoc, endLatlng));
polyLine.setTransparency(0.5f);
} else {
DrawLineInfo lineInfo = new DrawLineInfo();
List locations = new ArrayList();
locations.add(startLatLng);
locations.add(addMiddleLoc);
locations.add(endLatlng);
lineInfo.setLocations(locations);
lineInfo.setHeading(info.heading);
Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine width = " + info.getRoadwidth());
lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
V2XServiceManager.getMoGoStopPolylineManager().drawStopPolyline(getContext(), lineInfo);
}
} else {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoStopPolylineManager().clearLine();
}
}
/**
* 侧方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) {
if (info != null) {
IMogoPolyline polyLine = V2XServiceManager.getMoGoPersonWarnPolylineManager().getMogoPersonWarnPolyline();
MogoLatLng startLatlng = new MogoLatLng(info.getLat(), info.getLon());//识别物坐标
MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon());//预碰撞点坐标
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);//识别物到碰撞点之间的距离
MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2,
Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));//补点
if (polyLine != null) {
Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
polyLine.setTransparency(0.5f);
} else {
DrawLineInfo lineInfo = new DrawLineInfo();
Log.d(TAG, "目标物与预碰撞点画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
List locations = new ArrayList();
locations.add(startLatlng);
locations.add(addMiddleLoc);
locations.add(endLatlng);
lineInfo.setLocations(locations);
lineInfo.setHeading(info.heading);
Log.d(V2XConst.LOG_NAME_WARN, "drawOtherObjectLine width = " + info.getRoadwidth());
lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
V2XServiceManager.getMoGoPersonWarnPolylineManager().drawPersonWarnPolyline(getContext(), lineInfo);
//识别物到预碰撞点之间的箭头
addArrows(startLatlng, endLatlng);
}
} else {
Log.e(V2XConst.LOG_NAME_WARN, "info == null");
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
}
}
//侧面目标物与碰撞点之间添加多个小箭头
private void addArrows(MogoLatLng startLatLng, MogoLatLng endLatLng) {
float distance = CoordinateUtils.calculateLineDistance(
startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat);
double rotate = Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat);
Log.d(TAG, "添加小箭头--目标物与预碰撞点之间的距离是" + String.valueOf(distance));
if (distance > 5) {
int count = (int) (distance / 5);
for (int i = 0; i < count; i++) {
MogoLatLng newLo = Trigonometric.getNewLocation(
startLatLng, 5 * (i + 1), Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat));
Log.d(TAG, "小箭头位置" + newLo);
V2XWarnDataDrawer.getInstance().drawerArrowsMarkerWithLocation(newLo, WARNING_ARROWS, 10, new Double(rotate).intValue());
}
}
//延迟3秒清理线
UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
}, showTime);
}
@Override
public void clearALLPOI() {
}
/**
* 自车定位 移动完成需要 3s消失,这里何时清理，应该是没有数据的时候
* 地图侧回调回的定位Location为高德坐标
*/
@Override
public void onCarLocationChanged2(Location latLng) {
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() && isSelfLineClear == false) {
//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()));
}
drawSelfCarLine(latLng.getLongitude(), latLng.getLatitude(), latLng.getBearing());
}
carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
Log.d("车行驶的轨迹---", String.valueOf(latLng.getLongitude()) + "," + String.valueOf(latLng.getLatitude()));
}
@Override
public void onCarLocationChanged(MogoLatLng latLng) {
}
/**
* 补点后的停止线经纬度合集
*/
public void pointsBetween() {
try {
fillPoints.clear();
List stopLines = mCloundWarningInfo.getStopLines();
if (stopLines.size() > 1) {
MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
//两点间的距离
float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
float average = distance / 3;
//两点间的角度
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 = Trigonometric.getNewLocation(x, average * i, angle);
fillPoints.add(newLocation);
}
fillPoints.add(y);
}
} catch (Exception e) {
e.printStackTrace();
}
}
private MogoLatLng getMogoLat(MogoLatLng latlng) {
MogoLatLng newLocation = Trigonometric.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
return newLocation;
}
/*
* 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() {
MogoLatLng newLocation = Trigonometric.getNewLocation(carLocation, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
return newLocation;
}
}