From 9ae5f05b1dddbcf55b8cd0b7c0554e7f50ae0132 Mon Sep 17 00:00:00 2001 From: liujing Date: Tue, 11 May 2021 17:15:13 +0800 Subject: [PATCH] =?UTF-8?q?=E7=BA=BF=E7=BB=98=E5=88=B6=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E8=BF=81=E7=A7=BB=20=E9=A6=96=E6=AC=A1=E9=A2=84=E8=AD=A6?= =?UTF-8?q?=E6=8B=BF=E4=B8=8D=E5=88=B0=E8=BD=A6=E7=9A=84=E4=BD=8D=E7=BD=AE?= =?UTF-8?q?,=E5=9B=A0=E4=B8=BA=E6=9C=AA=E6=8E=A5=E5=85=A5ADAS,=E7=AD=89?= =?UTF-8?q?=E6=8F=90=E6=B5=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../common/drawer/V2XWarnDataDrawer.java | 16 --- .../impl/MoGoV2XCloundDataManager.java | 2 +- .../v2x/scenario/impl/V2XScenarioManager.java | 2 +- .../warning/V2XFrontWarningScenario.java | 36 ++--- .../scene/warning/V2XWarningMarker.java | 128 ++++++++++-------- .../scene/warning/V2XWarningWindow.java | 2 + 6 files changed, 91 insertions(+), 95 deletions(-) diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java index ac23bb50fe..9fa7c928fe 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java @@ -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); } diff --git 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 index 7fa563c82c..0057de52d9 100644 --- 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 @@ -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); diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java index 5d33724f15..de2c7fc936 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java @@ -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; } diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java index e2e50aac22..37762d5ebd 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java @@ -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) { + + } + } diff --git 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 index 7c1c034cf0..4cb25d0aa2 100644 --- 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 @@ -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); diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java index d59915b3b0..d43db290f1 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java @@ -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); } + }