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线绘制代码迁移

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首次预警拿不到车的位置,因为未接入ADAS,等提测
This commit is contained in:
liujing
2021-05-11 17:15:13 +08:00
parent 5da8e0ad1d
commit 9ae5f05b1d
6 changed files with 91 additions and 95 deletions
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16
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
View File

@@ -86,30 +86,14 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
MarkerShowEntity markerShowEntity = new MarkerShowEntity();
markerShowEntity.setMarkerLocation(location);
markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_WARN_DATA);
IMogoMarker bottomMarker = drawMarkerWith2Resource(markerShowEntity);
MogoLatLng mogoLatLng = new MogoLatLng(data.getCollisionLat(), data.getCollisionLon());
//2D资源图片位置调整
// MogoLatLng stopLineNew = Trigonometric.getNewLocation(data.getStopLines().get(1), 5, 180);
// MogoLatLng newLocation = Trigonometric.getNewLocation(mogoLatLng, 5, 180);
IMogoMarker marker = drawMarker(markerShowEntity, modeResType(data.getType()));
//识别物
marker.addDynamicAnchorPosition(new MogoLatLng(
data.getDirection() == 1 ? data.getStopLines().get(1).lat : data.getCollisionLat(),
data.getDirection() == 1 ? data.getStopLines().get(1).lon : data.getCollisionLon()), (float) data.getHeading(), 5000);
//识别物下方的红色圆圈
bottomMarker.addDynamicAnchorPosition(new MogoLatLng(
data.getDirection() == 1 ? data.getStopLines().get(1).lat : data.getCollisionLat(),
data.getDirection() == 1 ? data.getStopLines().get(1).lon : data.getCollisionLon()), (float) data.getHeading(), 5000);
// bottomMarker.addDynamicAnchorPosition(new MogoLatLng(
// data.getDirection() == 1 ? stopLineNew.lat : newLocation.getLat(),
// data.getDirection() == 1 ? stopLineNew.lon : newLocation.getLon()), (float) data.getHeading(), 5000);
//移动完成以后，3s后消失
UiThreadHandler.postDelayed(() -> {
marker.remove();
bottomMarker.remove();
}, 8000);
}

2
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
View File

@@ -78,7 +78,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
if (mV2XScenario == null) {
mV2XScenario = new V2XFrontWarningScenario();
}
mV2XScenario.setWarningEntity(cloundWarningInfo);
// mV2XScenario.setWarningEntity(cloundWarningInfo);
mV2XScenario.init(null);
//预警蒙层
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);

2
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java
View File

@@ -110,8 +110,8 @@ public class V2XScenarioManager implements IV2XScenarioManager {
case V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_LEFT:
case V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_RIGHT:
case V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_BOTTOM:
mV2XScenario = new V2XFrontWarningScenario();
if (V2XServiceManager.getMoGoStatusManager().isVrMode()) {
mV2XScenario = new V2XFrontWarningScenario();
} else {
mV2XScenario = null;
}

36
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
View File

@@ -42,41 +42,33 @@ import java.util.List;
* @description 车路云—场景预警-V1.0 前车/行人/摩托车/盲区碰撞预警
* @since: 2021/3/24
*/
public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopViewStatusListener {
private int direction;
public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopViewStatusListener, IMogoCarLocationChangedListener2 {
private V2XWarningEntity mMarkerEntity;
static private V2XWarningMarker sV2XWarningMarker = new V2XWarningMarker();
public V2XFrontWarningScenario() {
setV2XWindow(new V2XWarningWindow());
setV2XMarker(new V2XWarningMarker());
setV2XMarker(sV2XWarningMarker);
}
@Override
public void init(@Nullable V2XMessageEntity v2XMessageEntity) {
try {
if (v2XMessageEntity != null) {
if (v2XMessageEntity.getContent() != null) {
MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
.registerCarLocationChangedListener(TAG, this);
if (V2XServiceManager.getMoGoStatusManager().isMainPageOnResume()) {
mMarkerEntity = (V2XWarningEntity) v2XMessageEntity.getContent();
direction = mMarkerEntity.getDirection();
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(direction, MogoReceiver.ACTION_V2X_FRONT_WARNING);
show();
drawPOI();
}
} else {
direction = mMarkerEntity.getDirection();
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(direction, MogoReceiver.ACTION_V2X_FRONT_WARNING);
show();
drawPOI();
}
} catch (Exception e) {
e.printStackTrace();
}
}
public void setWarningEntity(V2XWarningEntity markerEntity) {
mMarkerEntity = markerEntity;
}
@Override
public void show() {
showWindow();
@@ -85,8 +77,6 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
@Override
public void showWindow() {
if (getV2XWindow() != null && mMarkerEntity != null) {
View view = getV2XWindow().getView();
//Logger.d(MODULE_NAME, "添加window= " + view);
ViewGroup.LayoutParams layoutParams =
new ViewGroup.LayoutParams(
ViewGroup.LayoutParams.MATCH_PARENT,
@@ -134,7 +124,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
@Override
public void onViewRemoved(View view) {
Log.d(TAG, "onViewRemoved");
}
@Override
@@ -147,4 +137,14 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
}
@Override
public void onCarLocationChanged2(Location latLng) {
sV2XWarningMarker.onCarLocationChanged2(latLng);
}
@Override
public void onCarLocationChanged(MogoLatLng latLng) {
}
}

128
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
View File

@@ -1,12 +1,14 @@
package com.mogo.module.v2x.scenario.scene.warning;
import android.content.Context;
import android.location.Location;
import android.util.Log;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.map.MogoLatLng;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.drawer.MarkerDrawer;
@@ -54,9 +56,6 @@ public class V2XWarningMarker implements IV2XMarker {
private static final String TAG = "V2XWarningMarker";
private static String WARNING_ARROWS = "WARNING_ARROWS";
private V2XWarningEntity mCloundWarningInfo;
private MarkerShowEntity markerShowEntity = new MarkerShowEntity();
private Context mContext = V2XServiceManager.getContext();
private IMogoMarker optimalMarker = null;
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;
@@ -69,8 +68,6 @@ 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;
private V2XFrontWarningScenario mV2XScenario;
private static long showTime = 4000;
private float bearing;
@@ -78,69 +75,66 @@ public class V2XWarningMarker implements IV2XMarker {
public void drawPOI(Object entity) {
try {
mCloundWarningInfo = (V2XWarningEntity) entity;
drawLineWithEntity(mCloundWarningInfo);
drawLineWithEntity();
} catch (Exception e) {
Log.d(TAG,e.toString());
}
}
public void drawLineWithEntity(V2XWarningEntity cloundWarningInfo) {
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
mCloundWarningInfo = cloundWarningInfo;
showTime = mCloundWarningInfo.getShowTime();
pointsBetween();
bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();
//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);
public void drawLineWithEntity() {
showTime = mCloundWarningInfo.getShowTime();
pointsBetween();
bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();
//预警蒙层
MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
isSelfLineClear = false;
isFirstLocation = false;
V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
if (mCloundWarningInfo.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, 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);
//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);
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);
} 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(mCloundWarningInfo);
//二轮车和行人的渲染和移动
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo);
//车辆静止的时候
drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
//车辆静止的时候
drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
}, 500);
}, 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);
}
}
@@ -237,6 +231,10 @@ 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)));
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());
return newLocation;
}
@@ -244,7 +242,7 @@ public class V2XWarningMarker implements IV2XMarker {
/**
* 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) {
public void drawSelfCarLine(double lon, double lat, float bearing) {
if (!isSelfLineClear) {
IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
if (mCloundWarningInfo != null) {
@@ -349,7 +347,7 @@ public class V2XWarningMarker implements IV2XMarker {
}
/*
* 2D资源绘制停止线
* 2D资源绘制停止线 暂时不需要
* */
private void drawStopLineWith2Resource() {
MogoLatLng carlo = mCloundWarningInfo.getCarLocation();
@@ -377,6 +375,18 @@ public class V2XWarningMarker implements IV2XMarker {
}, 8000);
}
public void onCarLocationChanged2(Location latLng) {
carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
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());
}
Log.d(TAG, "车辆行驶轨迹" + String.valueOf(latLng.getLongitude()) + "," + String.valueOf(latLng.getLatitude()));
}
@Override
public void clearPOI() {
V2XServiceManager.getMarkerManager().removeMarkers(V2X_FRONT_WARNING_MARKER);

2
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java
View File

@@ -4,6 +4,7 @@ import android.content.Context;
import android.location.Location;
import android.os.Handler;
import android.util.AttributeSet;
import android.util.Log;
import android.view.LayoutInflater;
import android.view.View;
import android.widget.ImageView;
@@ -127,4 +128,5 @@ public class V2XWarningWindow extends V2XBasWindow implements IV2XWindow {
.getMogoTopViewManager()
.removeView(this);
}
}