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[add] 停止线3D资源添加,红色预警区域补点修改

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This commit is contained in:
liujing
2021-04-16 14:14:13 +08:00
parent efa66bfac9
commit 91fe226d28
7 changed files with 22 additions and 11 deletions
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19
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
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@@ -50,6 +50,9 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
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;
@@ -86,13 +89,13 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
if (cloundWarningInfo.getDirection() == 1) { //前方 TODO
middleLocationInStopLine = getMiddleLocationInStopLine();
MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine, 30, cloundWarningInfo.getAngle());
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
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, middleLocationInStopLine, warningLocation);
drawRedWarningLineFrontOfStopLine(cloundWarningInfo, middleLocationInStopLine, warningLocation);
//添加停止线marker
handleStopLine();
//自车画线
@@ -133,7 +136,9 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
}
}
/*
* 停止线绘制
* */
private void handleStopLine() {
if (mCloundWarningInfo != null) {
for (int i = 0; i < fillPoints.size(); i++) {
@@ -152,7 +157,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
/**
* 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 drawStopLine(V2XWarningEntity info, MogoLatLng startLatLng, MogoLatLng mogoLatLng) {
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);
@@ -179,6 +184,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
}
} else {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoStopPolylineManager().clearLine();
}
}
@@ -192,7 +198,8 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
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, mCloundWarningInfo.getAngle());//补点
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));
@@ -282,7 +289,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == 1 ? middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
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.lat + "," + startLatlng.lon +
"中间扩展点" + addMiddleLoc.lon + "," + addMiddleLoc.lat + "终点:" + endLatlng.lon + "," + endLatlng.lat);