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[V2X]弱势交通参与者下发后没有解析

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This commit is contained in:
renwj
2022-10-28 16:00:37 +08:00
parent 30b3432cb1
commit bc87e347d7
3 changed files with 49 additions and 46 deletions
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62
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
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@@ -24,8 +24,9 @@ import com.mogo.map.marker.IMogoMarkerManager;
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.v2x.data.V2XLocation;
import com.mogo.v2x.data.V2XWarningTarget;
import java.util.ArrayList;
import java.util.Arrays;
@@ -39,7 +40,7 @@ import java.util.List;
public class V2XWarningMarker implements IV2XMarker {
private static final String TAG = "V2XWarningMarker";
private static final String WARNING_ARROWS = "WARNING_ARROWS";
private V2XWarningEntity mCloundWarningInfo;
private V2XWarningTarget mCloundWarningInfo;
private boolean isSelfLineClear = true;//绘制线是否已被清除
private final List fillPoints = new ArrayList();//停止线经纬度合集
private boolean isFirstLocation = false;
@@ -60,7 +61,7 @@ public class V2XWarningMarker implements IV2XMarker {
public void drawPOI(Object entity) {
try {
CallerLogger.INSTANCE.d(M_V2X + TAG, "===drawPOI");
mCloundWarningInfo = (V2XWarningEntity) entity;
mCloundWarningInfo = (V2XWarningTarget) entity;
drawLineWithEntity();
} catch (Exception e) {
@@ -109,7 +110,7 @@ public class V2XWarningMarker implements IV2XMarker {
warningLocation);
*/
V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo);
V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo.getLon(), mCloundWarningInfo.getLat(), mCloundWarningInfo.getType(), mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getCollisionLon(), mCloundWarningInfo.getAngle(), mCloundWarningInfo.getShowTime());
//添加停止线marker
//衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
@@ -133,7 +134,7 @@ public class V2XWarningMarker implements IV2XMarker {
CallerLogger.INSTANCE.d(M_V2X + TAG, "数据为空carLocation == null");
}
*/
V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo);
V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo.getLon(), mCloundWarningInfo.getLat(), mCloundWarningInfo.getType(), mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getCollisionLon(), mCloundWarningInfo.getAngle(), mCloundWarningInfo.getShowTime());
}, 0);
@@ -157,7 +158,7 @@ public class V2XWarningMarker implements IV2XMarker {
* startLatLng: 划线起点=停止线上的坐标点
* mogoLatLng: 停止线前方50m坐标点
* */
private void drawRedWarningLineFrontOfStopLine(V2XWarningEntity info, MogoLatLng
private void drawRedWarningLineFrontOfStopLine(V2XWarningTarget info, MogoLatLng
startLatLng, MogoLatLng mogoLatLng) {
if (info != null) {
double angle = Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, mogoLatLng.lon, mogoLatLng.lat);
@@ -166,7 +167,7 @@ public class V2XWarningMarker implements IV2XMarker {
if (stopPolyLineMnager != null) {
IMogoPolyline polyLine = stopPolyLineMnager.getMogoStopPolyline();
MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon);
MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng, 25, angle);
MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng.lon, startLatLng.lat, 25, angle);
if (polyLine != null) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "drawStopLine polyLine != null");
polyLine.setPoints(Arrays.asList(startLatLng, addMiddleLoc, endLatlng));
@@ -178,8 +179,8 @@ public class V2XWarningMarker implements IV2XMarker {
locations.add(addMiddleLoc);
locations.add(endLatlng);
lineInfo.setLocations(locations);
lineInfo.setHeading(info.heading);
CallerLogger.INSTANCE.d(M_V2X + TAG, "drawStopLine width = " + info.getRoadwidth());
lineInfo.setHeading(info.getHeading());
CallerLogger.INSTANCE.d(TAG, "drawStopLine width = " + info.getRoadwidth());
lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
stopPolyLineMnager.drawStopPolyline(BridgeApi.INSTANCE.context(), lineInfo);
}
@@ -231,17 +232,17 @@ public class V2XWarningMarker implements IV2XMarker {
fillPoints.clear();
List stopLines = mCloundWarningInfo.getStopLines();
if (stopLines != null && stopLines.size() > 1) {
MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
V2XLocation x = mCloundWarningInfo.getStopLines().get(0);
V2XLocation y = mCloundWarningInfo.getStopLines().get(1);
//两点间的距离
float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
float distance = CoordinateUtils.calculateLineDistance(x.getLon(), x.getLat(), y.getLon(), y.getLat());
float average = distance / 3;
//两点间的角度
double angle = Trigonometric.getAngle(x.lon, x.lat, y.lon, y.lat);
double angle = Trigonometric.getAngle(x.getLon(), x.getLat(), y.getLon(), y.getLat());
//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);
MogoLatLng newLocation = Trigonometric.getNewLocation(x.getLon(), x.getLat(), average * i, angle);
fillPoints.add(newLocation);
}
fillPoints.add(y);
@@ -265,12 +266,12 @@ public class V2XWarningMarker implements IV2XMarker {
marker.removeMarkers(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
}
for (int i = 0; i < fillPoints.size(); i++) {
V2XWarningEntity entity = new V2XWarningEntity();
V2XWarningTarget entity = new V2XWarningTarget();
MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
entity.setLat(latLng.lat);
entity.setLon(latLng.lon);
entity.heading = mCloundWarningInfo.heading;
V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
entity.setHeading(mCloundWarningInfo.getHeading());
V2XWarnDataDrawer.getInstance().renderStopLineData(entity.getLon(), entity.getLat());
}
}
} catch (Exception e) {
@@ -279,7 +280,7 @@ public class V2XWarningMarker implements IV2XMarker {
}
private MogoLatLng getMogoLat(MogoLatLng latlng) {
MogoLatLng newLocation = Trigonometric.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(),
MogoLatLng newLocation = Trigonometric.getNewLocation(latlng.lon, latlng.lat, mCloundWarningInfo.getStopLineDistance(),
mCloundWarningInfo.getAngle());
return newLocation;
}
@@ -293,11 +294,11 @@ public class V2XWarningMarker implements IV2XMarker {
}
MogoLatLng newLocation = new MogoLatLng(0, 0);
if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null && mCloundWarningInfo.getStopLines().size() > 1) {
MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
double angle = Trigonometric.getAngle(x.lon, x.lat, y.lon, y.lat);
newLocation = Trigonometric.getNewLocation(x, distance * 0.5, angle);
V2XLocation x = mCloundWarningInfo.getStopLines().get(0);
V2XLocation y = mCloundWarningInfo.getStopLines().get(1);
float distance = CoordinateUtils.calculateLineDistance(x.getLon(), x.getLat(), y.getLat(), y.getLat());
double angle = Trigonometric.getAngle(x.getLat(), x.getLat(), y.getLon(), y.getLat());
newLocation = Trigonometric.getNewLocation(x.getLon(), x.getLat(), distance * 0.5, angle);
} else {
CallerLogger.INSTANCE.d(M_V2X + TAG, "停止线返回坐标点数量不正确" + mCloundWarningInfo.getStopLines().size());
}
@@ -335,7 +336,7 @@ public class V2XWarningMarker implements IV2XMarker {
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,
addMiddleLoc = Trigonometric.getNewLocation(startLatlng.getLon(), startLatlng.getLat(), distance / 2,
Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));
CallerLogger.INSTANCE.d(M_V2X + TAG, "angle==扩展点为了渐变色添加:" +
String.valueOf(Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat)));
@@ -368,7 +369,7 @@ public class V2XWarningMarker implements IV2XMarker {
/**
* 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) {
private void drawOtherObjectLine(V2XWarningTarget info) {
if (info != null) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "info != null");
IMoGoPersonWarnPolylineManager personWarnPolylineManager = BridgeApi.INSTANCE.v2xPersonWarnPolyline();
@@ -379,7 +380,7 @@ public class V2XWarningMarker implements IV2XMarker {
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,
MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatlng.getLon(), startLatlng.getLat(), distance / 2,
Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));//补点
if (polyLine != null) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "目标物与碰撞点连线 != null");
@@ -394,7 +395,7 @@ public class V2XWarningMarker implements IV2XMarker {
locations.add(addMiddleLoc);
locations.add(endLatlng);
lineInfo.setLocations(locations);
lineInfo.setHeading(info.heading);
lineInfo.setHeading(info.getHeading());
lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
personWarnPolylineManager.drawPersonWarnPolyline(BridgeApi.INSTANCE.context(), lineInfo);
CallerLogger.INSTANCE.d(M_V2X + TAG, "目标物与预碰撞点画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
@@ -415,7 +416,7 @@ public class V2XWarningMarker implements IV2XMarker {
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));
startLatLng.getLon(), startLatLng.getLat(), 5 * (i + 1), Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat));
V2XWarnDataDrawer.getInstance().drawerArrowsMarkerWithLocation(newLo, WARNING_ARROWS, 10, new Double(rotate).intValue());
CallerLogger.INSTANCE.d(M_V2X + TAG, "小箭头位置" + newLo);
}
@@ -428,7 +429,10 @@ public class V2XWarningMarker implements IV2XMarker {
carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() && isSelfLineClear == false) {
if (mCloundWarningInfo != null) {
mCloundWarningInfo.setCarLocation(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
V2XLocation v2XLocation = new V2XLocation();
v2XLocation.setLat(latLng.getLatitude());
v2XLocation.setLon(latLng.getLongitude());
mCloundWarningInfo.setCarLocation(v2XLocation);
}
//衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
//drawSelfCarLine(latLng.getLongitude(), latLng.getLatitude(), latLng.getBearing());

25
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
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@@ -15,7 +15,6 @@ import com.mogo.module.common.drawer.marker.IMarkerView;
import com.mogo.module.common.drawer.marker.MapMarkerAdapter;
import com.mogo.module.common.entity.MarkerLocation;
import com.mogo.module.common.entity.MarkerShowEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.StatusDescriptor;
@@ -65,21 +64,20 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
/**
* 识别物移动
*
* @param data
*/
public void renderWarnData(V2XWarningEntity data) {
public void renderWarnData(double lon, double lat, int type, double collisionlat, double collisionLon, double angle, long showTime) {
MarkerLocation location = new MarkerLocation();
location.setLat(data.getLat());
location.setLon(data.getLon());
location.setLat(lat);
location.setLon(lon);
location.setAngle(angle);
MarkerShowEntity markerShowEntity = new MarkerShowEntity();
markerShowEntity.setMarkerLocation(location);
markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_WARN_DATA);
IMogoMarker marker = drawMarker(markerShowEntity, modeResType(data.getType()));
marker.addDynamicAnchorPosition(new MogoLatLng(data.getCollisionLat(), data.getCollisionLon()), (float) data.getHeading(), (long) (data.getShowTime() * 1000));
IMogoMarker marker = drawMarker(markerShowEntity, modeResType(type));
// marker.addDynamicAnchorPosition(new MogoLatLng(collisionlat, collisionLon), (float) heading, showTime * 1000);
UiThreadHandler.postDelayed(() -> {
marker.remove();
}, data.getShowTime() * 1000);
}, showTime * 1000);
}
@@ -103,6 +101,8 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
.data(markerShowEntity)
.latitude(markerShowEntity.getMarkerLocation().getLat())
.longitude(markerShowEntity.getMarkerLocation().getLon())
.controlAngle(true)
.rotate((float) markerShowEntity.getMarkerLocation().getAngle())
.setGps(true);
IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(mContext, markerShowEntity, options);
options.icon3DRes(getModelRes(modeResType)); //TODO
@@ -132,12 +132,11 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
/**
* 绘制停止线 marker
*
* @param data
*/
public void renderStopLineData(V2XWarningEntity data) {
public void renderStopLineData(double lon, double lat) {
MarkerLocation location = new MarkerLocation();
location.setLat(data.getLat());
location.setLon(data.getLon());
location.setLat(lat);
location.setLon(lon);
MarkerShowEntity markerShowEntity = new MarkerShowEntity();
markerShowEntity.setMarkerLocation(location);

8
modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/Trigonometric.java
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@@ -37,10 +37,10 @@ public class Trigonometric {
/**
* 根据角度获取指定距离点的经纬度
*/
public static MogoLatLng getNewLocation(MogoLatLng st, double distance, double angle) {
mRadLo = st.getLon() * Math.PI / 180.;
mRadLa = st.getLat() * Math.PI / 180.;
Ec = radius_s + (radius_b - radius_s) * (90. - st.lat) / 90;
public static MogoLatLng getNewLocation(double lon, double lat, double distance, double angle) {
mRadLo = lon * Math.PI / 180.;
mRadLa = lat * Math.PI / 180.;
Ec = radius_s + (radius_b - radius_s) * (90. - lat) / 90;
Ed = Ec * Math.cos(mRadLa);
double dx = distance * Math.sin(Math.toRadians(angle));