diff --git a/.idea/gradle.xml b/.idea/gradle.xml index 4ff10f68a5..83405b8de1 100644 --- a/.idea/gradle.xml +++ b/.idea/gradle.xml @@ -91,7 +91,6 @@ diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/entity/model/DrawLineInfo.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/entity/model/DrawLineInfo.java index f2d9fe9e43..0033028dd1 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/entity/model/DrawLineInfo.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/entity/model/DrawLineInfo.java @@ -2,6 +2,8 @@ package com.mogo.module.v2x.entity.model; import com.mogo.map.MogoLatLng; +import java.util.List; + /** * @author lixiaopeng @@ -14,9 +16,13 @@ public class DrawLineInfo { // 起点位置 private MogoLatLng startLocation; + //结束点位置 private MogoLatLng endLocation; + //绘制线的多个点位置 + private List locations; + private double heading; private float width; @@ -70,4 +76,12 @@ public class DrawLineInfo { public void setDirection(int direction) { this.direction = direction; } + + public List getLocations() { + return locations; + } + + public void setLocations(List locations) { + this.locations = locations; + } } diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java index d2d42ead25..db40465730 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java @@ -4,6 +4,7 @@ import android.content.Context; import android.util.Log; import com.alibaba.android.arouter.facade.annotation.Route; +import com.mogo.map.MogoLatLng; import com.mogo.map.overlay.IMogoPolyline; import com.mogo.map.overlay.MogoPolylineOptions; import com.mogo.module.v2x.MoGoV2XServicePaths; @@ -13,6 +14,7 @@ import com.mogo.module.v2x.entity.model.DrawLineInfo; import com.mogo.module.v2x.manager.IMoGoPersonWarnPolylineManager; import java.util.ArrayList; +import java.util.Arrays; import java.util.List; /** @@ -39,17 +41,17 @@ public class MoGoPersonWarnPolylineManager implements IMoGoPersonWarnPolylineMan // 渐变色 List colors = new ArrayList<>(); - colors.add(0xFFE32F46); - colors.add(0xFFE32F46); + colors.add(0x0DE32F46); + colors.add(0xD9E32F46); + colors.add(0x0DE32F46); // 线条粗细，渐变，渐变色值 Log.d(V2XConst.LOG_NAME_WARN, "MoGoPersonWarnPolylineManager width = " + info.getWidth()); options.width(info.getWidth()).useGradient(true).colorValues(colors); - // 当前车辆位置 - options.add(info.getStartLocation()); - // 目标车辆位置 - options.add(info.getEndLocation()); - + List locations = info.getLocations(); + for (int i = 0; i < locations.size(); i++) { + options.add(locations.get(i)); + } // 绘制线的对象 mMogoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(options); mMogoPolyline.setTransparency(0.5f); diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoStopPolylineManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoStopPolylineManager.java index 1e957b2199..45c31da68c 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoStopPolylineManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoStopPolylineManager.java @@ -4,6 +4,7 @@ import android.content.Context; import android.util.Log; import com.alibaba.android.arouter.facade.annotation.Route; +import com.mogo.map.MogoLatLng; import com.mogo.map.overlay.IMogoPolyline; import com.mogo.map.overlay.MogoPolylineOptions; import com.mogo.module.v2x.MoGoV2XServicePaths; @@ -38,17 +39,18 @@ public class MoGoStopPolylineManager implements IMoGoStopPolylineManager { // 连接线参数 MogoPolylineOptions options = new MogoPolylineOptions(); List colors = new ArrayList<>(); - colors.add(0xFFE32F46); - colors.add(0xFFE32F46); + colors.add(0x0DE32F46); + colors.add(0xD9E32F46); + colors.add(0x0DE32F46); Log.d(V2XConst.LOG_NAME_WARN, "MoGoStopPolylineManager roadWidth = " + info.getWidth()); // 线条粗细，渐变，渐变色值 // 当前车辆位置 options.width(info.getWidth() == 0.0 ? 60 : info.getWidth()).useGradient(true).colorValues(colors); - options.add(info.getStartLocation()); - // 目标车辆位置 - options.add(info.getEndLocation()); - + List locations = info.getLocations(); + for (int i = 0; i < locations.size(); i++) { + options.add(locations.get(i)); + } // 绘制线的对象 mMogoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(options); mMogoPolyline.setTransparency(0.5f); 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 4ebd7bea6a..693013356d 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 @@ -7,15 +7,10 @@ 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.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; import com.mogo.module.common.drawer.V2XWarnDataDrawer; -import com.mogo.module.common.drawer.marker.EmptyMarkerView; -import com.mogo.module.common.drawer.marker.SimpleWindow3DAdapter; import com.mogo.module.common.entity.V2XWarningEntity; import com.mogo.module.service.MarkerServiceHandler; import com.mogo.module.service.receiver.MogoReceiver; @@ -24,18 +19,15 @@ 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.manager.IMoGoV2XCloundDataManager; -import com.mogo.module.v2x.marker.V2XFrontTargetMarkerView; import com.mogo.module.v2x.utils.LocationUtils; import com.mogo.utils.UiThreadHandler; -import com.mogo.utils.ViewUtils; +import com.mogo.utils.ViewUtils;x 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.v2x.V2XConst.V2X_FRONT_WARNING_MARKER; import static com.mogo.module.v2x.V2XServiceManager.getContext; /** @@ -48,7 +40,8 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog private boolean isSelfLineClear; private List fillPoints = new ArrayList();//停止线经纬度合集 private boolean isFirstLocation = false; - private MogoLatLng mNewLocation; + private MogoLatLng carLocation; + private static long showTime = 0; @Override @@ -73,8 +66,6 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog MogoLatLng newLocation = LocationUtils.getNewLocation((MogoLatLng) fillPoints.get(0), 80, cloundWarningInfo.getAngle()); //停止线前方画线 WorkThreadHandler.getInstance().postDelayed(() -> { - //添加停止线 - drawStopLineWith2Resource(); //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 @@ -121,54 +112,30 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog } } - /* - * 2D资源绘制停止线 - * */ - private void drawStopLineWith2Resource() { - MogoLatLng carlo = mCloundWarningInfo.getCarLocation(); - if (carlo == null) { - double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(); - double lat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(); - carlo = new MogoLatLng(lat, lon); - } - //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, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle()); - Log.d(TAG, "2D资源绘制停止线" + drawStopLineLon); - MogoMarkerOptions optionsRipple = new MogoMarkerOptions() - .latitude(drawStopLineLon.getLat()) - .longitude(drawStopLineLon.getLon()) - .anchor(1.0f, 1.0f) - .zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH); - - optionsRipple - .icon(ViewUtils.fromView(new EmptyMarkerView(V2XServiceManager.getContext()))); - IMogoMarker stopLine = V2XServiceManager.getMarkerManager().addMarker(TYPE_MARKER_CLOUD_STOP_LINE_DATA, optionsRipple); - stopLine.setInfoWindowAdapter(new SimpleWindow3DAdapter(new V2XFrontTargetMarkerView(V2XServiceManager.getContext()))); - stopLine.showInfoWindow(); - UiThreadHandler.postDelayed(() -> { - stopLine.hideInfoWindow(); - }, showTime); - } - /** - * 绘制停止线前方线 TODO 需要实时给行人当前位置 + * 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(); if (info != null) { if (polyLine != null) { Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine polyLine != null"); - polyLine.setPoints(Arrays.asList(new MogoLatLng(mNewLocation.lat, mNewLocation.lon), + polyLine.setPoints(Arrays.asList(new MogoLatLng(carLocation.lat, carLocation.lon), new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon))); polyLine.setTransparency(0.5f); } else { DrawLineInfo lineInfo = new DrawLineInfo(); - MogoLatLng startLatlng = new MogoLatLng(mNewLocation.lat, mNewLocation.lon); + 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); - lineInfo.setStartLocation(startLatlng); - lineInfo.setEndLocation(endLatlng); + float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat); + MogoLatLng addMiddleLoc = LocationUtils.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle()); + 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() * 10 + 5); @@ -182,7 +149,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog /** - * 绘制行人和二轮车连线,并且更新数据 TODO 需要实时给行人当前位置 + * 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(); @@ -196,8 +163,14 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog DrawLineInfo lineInfo = new DrawLineInfo(); MogoLatLng startLatlng = new MogoLatLng(info.getLat(), info.getLon()); MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon()); - lineInfo.setStartLocation(startLatlng); - lineInfo.setEndLocation(endLatlng); + float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat); + MogoLatLng addMiddleLoc = LocationUtils.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle()); + 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() * 10 + 5); @@ -231,30 +204,36 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog } /** - * 绘制自车连线 + * 绘制安全区域,自车与碰撞点之间的蓝色线 */ private void drawSlefCarLine(Location latLng) { if (!isSelfLineClear) { IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline(); if (mCloundWarningInfo != null) { if (!isFirstLocation) { - mNewLocation = getMogoLat(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude())); - Log.d(V2XConst.LOG_NAME_WARN, "drawSlefCarLine lon = " + mNewLocation.lon + "---lat = " + mNewLocation.lat); + carLocation = getMogoLat(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude())); + Log.d(V2XConst.LOG_NAME_WARN, "drawSlefCarLine lon = " + carLocation.lon + "---lat = " + carLocation.lat); isFirstLocation = true; } if (mogoPolyline != null) { mogoPolyline.setPoints(Arrays.asList(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()), - new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? mNewLocation.lat : mCloundWarningInfo.getCollisionLat(), - mCloundWarningInfo.getDirection() == 1 ? mNewLocation.lon : mCloundWarningInfo.getCollisionLon()))); + new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? carLocation.lat : mCloundWarningInfo.getCollisionLat(), + mCloundWarningInfo.getDirection() == 1 ? carLocation.lon : mCloundWarningInfo.getCollisionLon()))); mogoPolyline.setTransparency(0.5f); } else { DrawLineInfo info = new DrawLineInfo(); // 对象 MogoLatLng startLatlng = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()); - MogoLatLng endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? mNewLocation.lat : mCloundWarningInfo.getCollisionLat(), - mCloundWarningInfo.getDirection() == 1 ? mNewLocation.lon : mCloundWarningInfo.getCollisionLon()); + MogoLatLng endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? carLocation.lat : mCloundWarningInfo.getCollisionLat(), + mCloundWarningInfo.getDirection() == 1 ? carLocation.lon : mCloundWarningInfo.getCollisionLon()); + float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat); + MogoLatLng addMiddleLoc = LocationUtils.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle()); + 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(latLng.getBearing()); - info.setStartLocation(startLatlng); - info.setEndLocation(endLatlng); info.setWidth(mCloundWarningInfo.getRoadwidth() * 10 + 5); info.setDirection(mCloundWarningInfo.getDirection()); V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info); diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java index 51a9fcb00d..be8388e88a 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java @@ -43,11 +43,13 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager { List colors = new ArrayList<>(); if (info.getDirection() == 1) { - colors.add(0xFF3036FF); - colors.add(0xFF3036FF); + colors.add(0x0D3036FF); + colors.add(0xD93036FF); + colors.add(0x0D3036FF); } else { - colors.add(0xFFE32F46); - colors.add(0xFFE32F46); + colors.add(0x0DE32F46); + colors.add(0xD9E32F46); + colors.add(0x0DE32F46); } Log.d(V2XConst.LOG_NAME_WARN, "MoGoWarnPolylineManager roadWidth = " + info.getWidth()); @@ -55,10 +57,10 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager { // 当前车辆位置 options.width(info.getWidth() == 0.0 ? 60 : info.getWidth()).useGradient(true).colorValues(colors); // options.width(60).useGradient(true).colorValues(colors); - options.add(info.getStartLocation()); - // 目标车辆位置 - options.add(info.getEndLocation()); - + List locations = info.getLocations(); + for (int i = 0; i < locations.size(); i++) { + options.add(locations.get(i)); + } // 绘制线的对象 mMogoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(options); mMogoPolyline.setTransparency(0.5f); 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 c6b26b9c3a..d7f2bdbba2 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 @@ -31,6 +31,7 @@ import com.mogo.utils.WorkThreadHandler; import java.util.ArrayList; import java.util.List; +import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA; import static com.mogo.module.v2x.V2XConst.V2X_FRONT_WARNING_MARKER; import static com.mogo.module.v2x.V2XConst.V2X_OPTIMAL_SPEED_MARKER; @@ -86,4 +87,33 @@ public class V2XWarningMarker implements IV2XMarker { V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); } + + /* + * 2D资源绘制停止线 + * */ + private void drawStopLineWith2Resource() { + MogoLatLng carlo = mMarkerEntity.getCarLocation(); + if (carlo == null) { + double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(); + double lat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(); + carlo = new MogoLatLng(lat, lon); + } + //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); + MogoMarkerOptions optionsRipple = new MogoMarkerOptions() + .latitude(drawStopLineLon.getLat()) + .longitude(drawStopLineLon.getLon()) + .anchor(1.0f, 1.0f) + .zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH); + + optionsRipple + .icon(ViewUtils.fromView(new EmptyMarkerView(V2XServiceManager.getContext()))); + IMogoMarker stopLine = V2XServiceManager.getMarkerManager().addMarker(TYPE_MARKER_CLOUD_STOP_LINE_DATA, optionsRipple); + stopLine.setInfoWindowAdapter(new SimpleWindow3DAdapter(new V2XFrontTargetMarkerView(V2XServiceManager.getContext()))); + stopLine.showInfoWindow(); + UiThreadHandler.postDelayed(() -> { + stopLine.hideInfoWindow(); + }, 8000); + } }