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[2.13.2]新增V2N事件

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This commit is contained in:
renwj
2023-01-11 08:42:29 +08:00
parent 5a1554c4fa
commit cd80420605
22 changed files with 384 additions and 321 deletions
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10
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
View File

@@ -106,7 +106,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
V2XManager.init(V2XConfig.Builder().also {
it.aiCloudConfig(MoGoAiCloudClientConfig.getInstance())
it.context(context)
it.loggable(false)
it.loggable(true)
it.distanceForTriggerRefresh(200f) //行驶超过200（包含）米，刷新道路周边信息（短链请求）
it.durationForTriggerRefresh(
60,
@@ -364,7 +364,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
)
if (v2XRoadEventEntity != null) {
val distance = v2XRoadEventEntity.distance
val min = if (EventTypeEnumNew.AI_ROAD_WORK.poiType == v2XRoadEventEntity.poiType) 0 else 5
val min = if (EventTypeEnumNew.isCloudSocketEvent(v2XRoadEventEntity.poiType)) 0 else 5
CallerLogger.d(
"$M_V2X$TAG",
"--- trigger show before ---:data=>[${location.longitude}, ${location.latitude}, ${location.speed}], distance: $distance, minDistance: $min, poiType: ${v2XRoadEventEntity.poiType}"
@@ -448,6 +448,10 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
}
handleRoadMarkerEvent(event.data.toRoadMarker())
}
is V2XEvent.RoadEventX -> {
handleRoadMarkerEvent(event.data.toRoadMarker())
}
}
}
@@ -466,7 +470,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
// 1004 -> { //V2N_RSM,静止事件，包括异常停车、异常静止障碍物
// }
1005 -> { //V2N_RSI,施工事件，包括锥桶或者挡板围城的施工场景，是个多边形包围区域
EventTypeEnumNew.AI_ROAD_WORK.poiType
EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType
}
1007 -> { //三角牌
EventTypeEnumNew.FOURS_ACCIDENT_04.poiType

13
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java
View File

@@ -1,5 +1,8 @@
package com.mogo.eagle.core.function.v2x.events.alarm;
import android.util.Log;
import com.facebook.common.logging.LoggingDelegate;
import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.data.map.entity.MarkerLocation;
@@ -24,7 +27,7 @@ import io.netty.util.internal.ConcurrentSet;
public class V2XAlarmServer {
// 记录道路播报的事件
private static ConcurrentSet<V2XRoadEventEntity> showedEvents = new ConcurrentSet<>();
private static final ConcurrentSet<V2XRoadEventEntity> showedEvents = new ConcurrentSet<>();
/**
* 获取当前车辆前方距离最近的道路事件
*/
@@ -32,6 +35,7 @@ public class V2XAlarmServer {
CopyOnWriteArrayList<V2XRoadEventEntity> v2XRoadEventEntityList,
MogoLocation currentLocation) {
try {
Log.d("RWJ", "getDriveFrontAlarmEvent --- 1 ---" + currentLocation );
if (!showedEvents.isEmpty()) {
Iterator<V2XRoadEventEntity> iterator = showedEvents.iterator();
while (iterator.hasNext()) {
@@ -48,15 +52,18 @@ public class V2XAlarmServer {
}
}
}
Log.d("RWJ", "getDriveFrontAlarmEvent --- 2 ---" + currentLocation);
if (currentLocation != null && v2XRoadEventEntityList != null) {
// 因为集合是按照距离排序后的所以这里检索出来第一个就发出警告
for (V2XRoadEventEntity v2XRoadEventEntity : v2XRoadEventEntityList) {
// 0、道路事件必须有朝向，角度>=0;
Log.d("RWJ", "entity:" + v2XRoadEventEntity.getLocation());
if (v2XRoadEventEntity.getLocation().getAngle() >= 0) {
// 计算车辆距离指定气泡的距离
MarkerLocation eventLocation = v2XRoadEventEntity.getLocation();
// 1、判断是否到达了触发距离,20 ~ 500,
double distance = v2XRoadEventEntity.getDistance();
Log.d("RWJ", "distance:" + distance);
if (distance <= 500) {
if (EventTypeEnumNew.GHOST_PROBE.getPoiType().equals(v2XRoadEventEntity.getPoiType())) {
if (distance > 25) {
@@ -67,6 +74,7 @@ public class V2XAlarmServer {
double carBearing = currentLocation.getBearing();
double eventBearing = eventLocation.getAngle();
double diffAngle = DrivingDirectionUtils.getAngleDiff(carBearing, eventBearing);
Log.d("RWJ", "car_bearing:" + carBearing + ",eventBearing:" + eventBearing + ",diffAngle:" + diffAngle);
if (diffAngle < 20) {
// 3、计算当前车辆行驶方向与事件位置之间夹角《20度，保证道路事件在车辆前方
double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
@@ -76,6 +84,8 @@ public class V2XAlarmServer {
eventLocation.getLat(),
(int) currentLocation.getBearing()
);
Log.d("RWJ", "eventAngle:" + eventAngle);
if (0 <= eventAngle && eventAngle <= 20) {
if (showedEvents.contains(v2XRoadEventEntity)) {
return null;
@@ -90,6 +100,7 @@ public class V2XAlarmServer {
}
} catch (Exception e) {
e.printStackTrace();
Log.w("RWJ", "error: " + e.getMessage());
}
return null;
}

5
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/entity/panel/SurroundingConstruction.java
View File

@@ -36,9 +36,4 @@ public class SurroundingConstruction implements Serializable {
construtList.add(item);
}
public String getTypeNameTTS(String type) {
String typeName = "请查看周边的";
typeName += EventTypeEnumNew.getTypeNameTTS(type);
return typeName + "信息";
}
}

2
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/receiver/TestPanelBroadcastReceiver.kt
View File

@@ -199,7 +199,7 @@ class TestPanelBroadcastReceiver : BroadcastReceiver() {
val v2XMessageEntity = V2XMessageEntity<V2XRoadEventEntity>()
v2XMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING
v2XMessageEntity.content =
trackedObj.toRoadMarker(EventTypeEnumNew.AI_ROAD_WORK.poiType).toV2XRoadEventEntity()
trackedObj.toRoadMarker(EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType).toV2XRoadEventEntity()
v2XMessageEntity.isShowState = true
V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity)
}

222
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
View File

@@ -29,7 +29,6 @@ import com.mogo.map.overlay.*
import io.netty.util.internal.*
import java.lang.Runnable
import java.util.*
import java.util.concurrent.*
import java.util.concurrent.atomic.*
import kotlin.collections.ArrayList
@@ -59,27 +58,13 @@ object AiRoadMarker {
val poi = this.marker.get()
val car = this.carLocation.get()
if (poi != null && car != null) {
val distance = DrivingDirectionUtils.distance(car.first, car.second, poi.poi_lon, poi.poi_lat) * 10000
val distance = CoordinateUtils.calculateLineDistance(car.first, car.second, poi.poi_lon, poi.poi_lat)
if (distance < 500) {
unMarker(poi)
}
}
}
private val checkV2NExpiredTask = Runnable {
val poi = this.marker.get()
val car = this.carLocation.get()
if (poi != null && car != null) {
val distance = CoordinateUtils.calculateLineDistance(car.first, car.second, poi.poi_lon, poi.poi_lat)
Logger.d(TAG, "receive --- checkV2N --- distance: $distance")
if (distance > 200) {
unMarker(poi)
}else{
checkV2NExpired()
}
}
}
private val onClearAllMarker = object : OnClearAllMarker {
override fun onClearAllMarkers() {
@@ -125,28 +110,6 @@ object AiRoadMarker {
})
}
private val onRoadListener = object : OnRoadListener {
private var roadId = ""
private var hasCrossRoad = false
override fun onRoadIdInfo(roadId: String) {
Logger.d(TAG, "--- onRoadInfo --- roadId: $roadId")
val oldRoadId = this.roadId
if (oldRoadId != roadId) {
if (hasCrossRoad) {
hasCrossRoad = false
}
}
this.roadId = roadId
}
override fun onStopLineInfo(info: StopLine) {
Logger.d(TAG, "--- onStopLineInfo --- info: $info")
if (!hasCrossRoad) {
hasCrossRoad = true
}
}
}
private val onLocationListener = object : IMoGoMapLocationListener {
override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
@@ -163,102 +126,105 @@ object AiRoadMarker {
}
private fun onCreate() {
CallerMapRoadListenerManager.registerRoadListener(TAG, onRoadListener)
CallMarkersClearManager.addAllMarkersClearListener(TAG, onClearAllMarker)
CallerMapLocationListenerManager.addListener(TAG, onLocationListener, true)
}
private fun onDestroy() {
CallerMapRoadListenerManager.unRegisterRoadListener(TAG)
CallMarkersClearManager.removeAllMarkersClearListener(TAG)
CallerMapLocationListenerManager.removeListener(TAG, true)
removeLine()
}
fun marker(marker: Marker, drawMarker: Boolean) {
fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false) {
handler.removeCallbacks(checkExpiredTask)
val location = carLocation.get() ?: return
if (markers.contains(marker)) {
Logger.d(TAG, "--- enqueue --- cache hit ---")
Logger.d(TAG, "--- maker --- cache hit ---")
return
}
Logger.d(TAG, "--- marker ---:${marker}")
synchronized(markers) {
markers += marker
}
this.marker.set(marker)
//施工中心点前方的自车行驶方向上300米距离
val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), 300f)
//施工中心点后方的自车行驶方向上300米距离
Logger.d(TAG, "--- marker --- 3 --- l1: $l1")
val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), -300f)
if (l1.points.isEmpty() || l2.points.isEmpty()) {
Logger.d(TAG, "--- marker --- 3 --- return ----")
synchronized(markers) {
markers.remove(marker)
}
return
}
Logger.d(TAG, "--- marker --- 4 --- l2: $l2")
val points = LinkedList<MogoLatLng>()
if (l2 != null && l2.points.isNotEmpty()) {
points.addAll(l2.points.reversed().map {
MogoLatLng(it.second, it.first)
})
}
val centerX= marker.poi_lon
val centerY = marker.poi_lat
Logger.d(TAG, "--- marker --- 5 --- marker: $marker")
val farthestPoint = marker.polygon?.let {
var find: Pair<Double, Double> = Pair(centerX, centerY)
var min = Long.MAX_VALUE
for (p in it) {
val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(centerX, centerY, p.first, p.second, location.third)
if (angle < min) {
min = angle
find = p
}
}
MogoLatLng(find.second, find.first)
} ?: MogoLatLng(centerY, centerX)
marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
Logger.d(TAG, "--- marker --- 6 --- marker: $marker")
if (l1 != null && l1.points.isNotEmpty()) {
for (l in l1.points) {
if (DrivingDirectionUtils.getDegreeOfCar2Poi2(farthestPoint.lon, farthestPoint.lat, l.first, l.second, location.third + 180) < 90L) {
points.add(l.let { MogoLatLng(it.second, it.first) })
}
}
}
if (points.size <= 1) {
synchronized(markers) {
markers.remove(marker)
}
return
}
removeLine()
if (drawMarker) {
marker.entity?.apply { V2XAiRoadEventMarker.drawMarkers(this) }
}
val evaluator = ArgbEvaluator()
val interceptor = DecelerateInterpolator(1.5f)
val total = points.size
val colors = ArrayList<Int>()
(0..total).forEach { i ->
colors += evaluator.evaluate(interceptor.getInterpolation(i * 1f / total), START_COLOR, END_COLOR) as Int
}
var line = line.get()
options.points(points)
options.colorValues(colors)
Logger.d(TAG, "--- marker --- 7 --- points: ${points.size}")
if (line == null || line.isDestroyed) {
val l = overlayManager.addPolyline(options)
this.line.set(l)
line = l
if (drawRoadLine) {
//施工中心点前方的自车行驶方向上300米距离
val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), 300f)
//施工中心点后方的自车行驶方向上300米距离
Logger.d(TAG, "--- marker --- 3 --- l1: $l1")
val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), -300f)
if (l1.points.isEmpty() || l2.points.isEmpty()) {
Logger.d(TAG, "--- marker --- 3 --- return ----")
synchronized(markers) {
markers.remove(marker)
}
return
}
Logger.d(TAG, "--- marker --- 4 --- l2: $l2")
val points = LinkedList<MogoLatLng>()
if (l2 != null && l2.points.isNotEmpty()) {
points.addAll(l2.points.reversed().map {
MogoLatLng(it.second, it.first)
})
}
val centerX= marker.poi_lon
val centerY = marker.poi_lat
Logger.d(TAG, "--- marker --- 5 --- marker: $marker")
val farthestPoint = marker.polygon?.let {
var find: Pair<Double, Double> = Pair(centerX, centerY)
var min = Long.MAX_VALUE
for (p in it) {
val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(centerX, centerY, p.first, p.second, location.third)
if (angle < min) {
min = angle
find = p
}
}
MogoLatLng(find.second, find.first)
} ?: MogoLatLng(centerY, centerX)
marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
Logger.d(TAG, "--- marker --- 6 --- marker: $marker")
if (l1 != null && l1.points.isNotEmpty()) {
for (l in l1.points) {
if (DrivingDirectionUtils.getDegreeOfCar2Poi2(farthestPoint.lon, farthestPoint.lat, l.first, l.second, location.third + 180) < 90L) {
points.add(l.let { MogoLatLng(it.second, it.first) })
}
}
}
if (points.size <= 1) {
synchronized(markers) {
markers.remove(marker)
}
return
}
removeLine()
val evaluator = ArgbEvaluator()
val interceptor = DecelerateInterpolator(1.5f)
val total = points.size
val colors = ArrayList<Int>()
(0..total).forEach { i ->
colors += evaluator.evaluate(interceptor.getInterpolation(i * 1f / total), START_COLOR, END_COLOR) as Int
}
var line = line.get()
options.points(points)
options.colorValues(colors)
Logger.d(TAG, "--- marker --- 7 --- points: ${points.size}")
if (line == null || line.isDestroyed) {
val l = overlayManager.addPolyline(options)
this.line.set(l)
line = l
} else {
line.setOption(options)
}
if (!line.isVisible) {
line.isVisible = true
}
} else {
line.setOption(options)
}
if (!line.isVisible) {
line.isVisible = true
removeLine()
}
}
@@ -287,7 +253,7 @@ object AiRoadMarker {
val poi = this.marker.get()
val car = this.carLocation.get()
if (poi != null && car != null) {
val distance = DrivingDirectionUtils.distance(car.first, car.second, marker.poi_lon, marker.poi_lat) * 10000
val distance = CoordinateUtils.calculateLineDistance(car.first, car.second, marker.poi_lon, marker.poi_lat)
Logger.d(TAG, "receive --- 2 ---:car:[${car.first}, ${car.second}] -> poi:[${marker.poi_lon}, ${marker.poi_lat}] --> distance:$distance")
if (distance < 500) {
checkExpired()
@@ -306,32 +272,13 @@ object AiRoadMarker {
handler.postDelayed(checkExpiredTask, 10000)
}
fun receiveV2N(marker: Marker) {
Logger.d(TAG, "receive --- 1 ---")
val car = this.carLocation.get()
if (car != null) {
val distance = DrivingDirectionUtils.distance(car.first, car.second, marker.poi_lon, marker.poi_lat) * 10000
Logger.d(TAG, "receive --- 2 ---:car:[${car.first}, ${car.second}] -> poi:[${marker.poi_lon}, ${marker.poi_lat}] --> distance:$distance")
if (distance < 500) {
checkV2NExpired()
} else {
handler.removeCallbacks(checkV2NExpiredTask)
}
} else {
checkV2NExpired()
}
}
private fun checkV2NExpired() {
handler.removeCallbacks(checkV2NExpiredTask)
handler.postDelayed(checkV2NExpiredTask, 5000)
}
data class Marker(
val id: String,
val poiType: String,
val poi_lat: Double,
val poi_lon: Double,
val poi_angle: Double,
val polygon: List<Pair<Double, Double>>?,
val polygon: List<Pair<Double, Double>>? = null,
var farthestPoint: Pair<Double, Double>? = null,
var entity: V2XRoadEventEntity? = null
) {
@@ -340,15 +287,12 @@ object AiRoadMarker {
if (this === other) return true
if (javaClass != other?.javaClass) return false
other as Marker
if (poi_lat != other.poi_lat) return false
if (poi_lon != other.poi_lon) return false
if (id != other.id) return false
return true
}
override fun hashCode(): Int {
var result = poi_lat.hashCode()
result = 31 * result + poi_lon.hashCode()
return result
return id.hashCode()
}
}
}

22
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventMarker.java
View File

@@ -1,5 +1,7 @@
package com.mogo.eagle.core.function.v2x.events.scenario.scene.road;
import android.util.Log;
import androidx.core.util.Pair;
import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
@@ -11,6 +13,8 @@ import com.mogo.eagle.core.function.v2x.events.manager.IMoGoV2XMarkerManager;
import com.mogo.eagle.core.function.v2x.events.manager.IMoGoV2XPolylineManager;
import com.mogo.eagle.core.function.v2x.events.scenario.scene.airoad.AiRoadMarker;
import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
import com.mogo.eagle.core.network.utils.GsonUtil;
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
@@ -31,8 +35,12 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
if (marker != null) {
marker.clearAlarmPOI();
if (entity != null) {
if (!Objects.equals(entity.getPoiType(), EventTypeEnumNew.AI_ROAD_WORK.getPoiType())
&& !Objects.equals(entity.getPoiType(), EventTypeEnumNew.FOURS_ACCIDENT_04.getPoiType())) {
Log.d("RWJ", "V2XRoadEventMarker:" + entity.getPoiType());
if (!Objects.equals(entity.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.getPoiType())
&& !Objects.equals(entity.getPoiType(), EventTypeEnumNew.FOURS_ACCIDENT_04.getPoiType())
&& !Objects.equals(entity.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_JINGZHI.getPoiType())
&& !Objects.equals(entity.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_CONGESTION.getPoiType())
&& !Objects.equals(entity.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGU.getPoiType())) {
AiRoadMarker.Marker prev = mMarker;
if (prev != null) {
AiRoadMarker.INSTANCE.unMarker(prev);
@@ -46,6 +54,7 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
mMarker = null;
}
MarkerExploreWay noveltyInfo = entity.getNoveltyInfo();
Log.d("RWJ", "V2XRoadEventMarker -> noveltyInfo:" + noveltyInfo);
if (noveltyInfo != null && noveltyInfo.extras != null) {
List<Pair<Double, Double>> polygons = new ArrayList<>();
Pair<Double, Double> gpsLocation = null;
@@ -80,11 +89,10 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
if (!polygons.isEmpty() && gpsLocation != null) {
MarkerLocation location = noveltyInfo.getLocation();
AiRoadMarker.Marker m = new AiRoadMarker.Marker(gpsLocation.second, gpsLocation.first, location.getAngle(), polygons, null, entity);
AiRoadMarker.Marker m = new AiRoadMarker.Marker(noveltyInfo.getInfoId(), noveltyInfo.getPoiType(), gpsLocation.second, gpsLocation.first, location.getAngle(), polygons, null, entity);
mMarker = m;
AiRoadMarker.INSTANCE.marker(m, true);
AiRoadMarker.INSTANCE.marker(m, true, isDrawRoadLine(m.getPoiType()));
}
}
}
}
@@ -94,6 +102,10 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
}
}
private boolean isDrawRoadLine(String poiType) {
return EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.getPoiType().equals(poiType);
}
@Override
public void clearPOI() {
// 移除线

39
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventScenario.java
View File

@@ -4,10 +4,13 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X
import android.util.Log;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.commons.analytics.AnalyticsUtils;
import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
import com.mogo.eagle.core.data.enums.WarningDirectionEnum;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.data.map.entity.MarkerExploreWay;
import com.mogo.eagle.core.data.map.entity.MarkerLocation;
import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity;
import com.mogo.eagle.core.data.msgbox.MsgBoxBean;
@@ -15,6 +18,7 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxType;
import com.mogo.eagle.core.data.msgbox.V2XMsg;
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener;
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager;
import com.mogo.eagle.core.function.v2x.events.consts.V2XConst;
@@ -44,7 +48,7 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
@Override
public void init(V2XMessageEntity<V2XRoadEventEntity> v2XMessageEntity) {
try {
CallerLogger.INSTANCE.d(M_V2X + TAG, "v2XMessageEntity:" + GsonUtil.jsonFromObject(v2XMessageEntity));
Log.d(TAG, "v2XMessageEntity:" + GsonUtil.jsonFromObject(v2XMessageEntity));
V2XRoadEventEntity v2XRoadEventEntity = v2XMessageEntity.getContent();
if (v2XRoadEventEntity != null) {
if (v2XMessageEntity.isShowState()) {
@@ -99,20 +103,39 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
V2XRoadEventEntity content = entity != null ? entity.getContent() : null;
if (content != null) {
// //显示警告红边
if (content.getAlarmContent() == null || content.getAlarmContent().isEmpty()
|| content.getTts() == null || content.getTts().isEmpty()) {
String alarmText = content.getAlarmContent();
String ttsText = content.getTts();
if (alarmText == null || alarmText.isEmpty()
|| ttsText == null || ttsText.isEmpty()) {
Log.d("MsgBox-V2XRoadScenario", "alertContent或ttsContent为空!");
}
String poiType = content.getPoiType();
if (EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.getPoiType().equals(poiType) ||
EventTypeEnumNew.TYPE_SOCKET_ROAD_JINGZHI.getPoiType().equals(poiType) ||
EventTypeEnumNew.TYPE_SOCKET_ROAD_CONGESTION.getPoiType().equals(poiType) ||
EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGU.getPoiType().equals(poiType)) {
MogoLocation carLocation = CallerMapLocationListenerManager.INSTANCE.getCurrentLocation();
MarkerExploreWay noveltyInfo = content.getNoveltyInfo();
if (carLocation != null && noveltyInfo != null) {
MarkerLocation eventLocation = noveltyInfo.getLocation();
if (eventLocation != null) {
double distance = CoordinateUtils.calculateLineDistance(carLocation.getLongitude(), carLocation.getLatitude(), eventLocation.getLon(), eventLocation.getLat());
alarmText = String.format(alarmText, distance + "");
ttsText = String.format(ttsText, distance + "");
}
}
}
CallerMsgBoxManager.INSTANCE.saveMsgBox(
new MsgBoxBean(
MsgBoxType.V2X,
new V2XMsg(content.getPoiType(),
content.getAlarmContent(),
content.getTts())
new V2XMsg(poiType,
alarmText,
ttsText)
)
);
CallerHmiManager.INSTANCE.warningV2X(content.getPoiType(), content.getAlarmContent(),
content.getTts(), TAG, this, !entity.isOnlyShow(),
CallerHmiManager.INSTANCE.warningV2X(poiType, alarmText,
ttsText, TAG, this, !entity.isOnlyShow(),
TimeUnit.SECONDS.toMillis(5));
}
}

2
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
View File

@@ -40,7 +40,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoMapL
private WarningDirectionEnum mDirection;
public V2XFrontWarningScenario() {
setV2XMarker(sV2XWarningMarker);
//setV2XMarker(sV2XWarningMarker);
}
@Override

66
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/EntityUtils.kt
View File

@@ -1,17 +1,14 @@
package com.mogo.eagle.core.function.v2x.events.utils
import androidx.core.util.Pair
import com.mogo.eagle.core.data.enums.EventTypeEnumNew
import com.mogo.eagle.core.data.enums.EventTypeEnumNew.Companion.isRoadEvent
import com.mogo.eagle.core.data.map.entity.MarkerExploreWay
import com.mogo.eagle.core.data.map.entity.MarkerLocation
import com.mogo.eagle.core.data.map.entity.MarkerUserInfo
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
import com.mogo.eagle.core.function.v2x.events.scenario.scene.airoad.AiRoadMarker
import com.mogo.eagle.core.function.v2x.internal.data.MarkerExploreWayItem
import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerCardResult
import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerExploreWay
import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerLocation
import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerUserInfo
import com.mogo.eagle.core.function.v2x.internal.data.*
import com.mogo.map.MogoMap
import mogo.telematics.pad.MessagePad
import roadwork.Road
@@ -82,6 +79,9 @@ fun Road.RW_PB.toRoadMarker(): V2XMarkerCardResult =
)
}
}
val centerX = this.roadwork?.center?.point?.lon ?: 0.0
val centerY = this.roadwork?.center?.point?.lat ?: 0.0
val id = "${centerX}_${centerY}"
l1.exploreWay = ArrayList<V2XMarkerExploreWay>().also { l2 ->
l2.add(V2XMarkerExploreWay().also { l3 ->
l3.poiType = this.roadwork?.poiType?.toString()
@@ -95,17 +95,54 @@ fun Road.RW_PB.toRoadMarker(): V2XMarkerCardResult =
l4.lat = p.lat
l4.angle = this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0
}
l3.infoId = id
})
}
AiRoadMarker.receive(
AiRoadMarker.Marker(id, EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType,
this.roadwork?.center?.point?.lat ?: 0.0,
this.roadwork?.center?.point?.lon ?: 0.0,
this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0,
)
)
}
fun V2XRoadXData.toRoadMarker(): V2XMarkerCardResult =
V2XMarkerCardResult().also { l1 ->
this.polygon?.takeIf { it.isNotEmpty() }?.also { old ->
l1.extras = HashMap<String, List<Pair<Double, Double>>>().also { extra ->
extra["polygon"] = old.map { d ->
Pair(d.lon, d.lat)
}
extra["gps_location"] = listOf(Pair(this.center?.lon ?: 0.0, this.center?.lat ?: 0.0))
}
}
l1.exploreWay = ArrayList<V2XMarkerExploreWay>().also { l2 ->
l2.add(V2XMarkerExploreWay().also { l3 ->
l3.poiType = this.poiType
l3.generateTime = this.detectTime ?: 0L
l3.location = V2XMarkerLocation().also { l4 ->
val p = MogoMap.getInstance().mogoMap.switchLonLat(
this.center?.lon ?: 0.0,
this.center?.lat ?: 0.0
)
l4.lon = p.lon
l4.lat = p.lat
l4.angle = this.centerRoad?.bearing ?: 0.0
}
l3.infoId = this.index
})
}
AiRoadMarker.receive(
AiRoadMarker.Marker(
this.roadwork?.center?.point?.lat ?: 0.0,
this.roadwork?.center?.point?.lon ?: 0.0,
this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0,
null,
null,
null
this.index.toString(),
this.poiType ?: "",
this.center?.lat ?: 0.0,
this.center?.lon ?: 0.0,
this.centerRoad?.bearing ?: 0.0
)
)
}
@@ -118,6 +155,7 @@ fun MessagePad.TrackedObject.toRoadMarker(poiType: String): V2XMarkerCardResult
extra["gps_location"] = listOf(Pair(this.longitude, this.latitude))
}
}
val id = "${this.longitude}_${this.latitude}"
l1.exploreWay = ArrayList<V2XMarkerExploreWay>().also { l2 ->
l2.add(V2XMarkerExploreWay().also { l3 ->
l3.poiType = poiType
@@ -129,11 +167,11 @@ fun MessagePad.TrackedObject.toRoadMarker(poiType: String): V2XMarkerCardResult
l4.lat = p.lat
l4.angle = this.heading
}
l3.infoId = id
})
}
AiRoadMarker.receiveV2N(
AiRoadMarker.Marker(this.latitude, this.longitude, this.heading, null, null, null)
AiRoadMarker.receive(
AiRoadMarker.Marker(id, poiType, this.latitude, this.longitude, this.heading, null, null, null)
)
}

5
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/V2XManager.kt
View File

@@ -11,11 +11,11 @@ import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
import com.mogo.eagle.core.function.v2x.internal.http.V2XRefreshModel
import com.mogo.eagle.core.function.v2x.internal.http.callback.IV2XRefreshCallback
import com.mogo.eagle.core.function.v2x.internal.logger.Logger
import com.mogo.eagle.core.function.v2x.internal.socket.*
import com.mogo.eagle.core.function.v2x.internal.socket.V2XMessageListener_401012
import com.mogo.eagle.core.function.v2x.internal.socket.V2XMessageListener_401018
import com.mogo.eagle.core.function.v2x.internal.socket.V2XMessageListener_402000
import com.mogo.eagle.core.function.v2x.internal.socket.V2XMessageListener_404000
import com.mogo.eagle.core.function.v2x.internal.socket.V2XMessageListener_503000
import com.mogo.eagle.core.function.v2x.internal.utils.DistanceUtils
import java.util.concurrent.CopyOnWriteArrayList
import java.util.concurrent.atomic.AtomicBoolean
@@ -131,7 +131,8 @@ object V2XManager {
SocketManager.getInstance().registerOnMessageListener(401018, V2XMessageListener_401018(cbs))
SocketManager.getInstance().registerOnMessageListener(402000, V2XMessageListener_402000(cbs))
SocketManager.getInstance().registerOnMessageListener(404000, V2XMessageListener_404000(cbs))
SocketManager.getInstance().registerOnMessageListener(503000, V2XMessageListener_503000(cbs))
//SocketManager.getInstance().registerOnMessageListener(503000, V2XMessageListener_503000(cbs))
SocketManager.getInstance().registerOnMessageListener(70001, V2XMessageListener_70001(cbs))
handler.post(refreshTask)
}
}

57
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/data/V2XRoadXEvent.kt Normal file
View File

@@ -0,0 +1,57 @@
package com.mogo.eagle.core.function.v2x.internal.data
import androidx.annotation.Keep
@Keep
data class V2XRoadXData(
val poiType: String? = null,
val center: Point? = null,
val centerRoad: CenterRoad? = null,
val congestionLanes: List<Congestion>? = null,
val coordinateType: Int? = -1,
val id: String? = null,
val index: String? = null,
val obstacles: List<Obstacle>? = null,
val polygon: List<Point>? = null,
val type: Int? = 0,
val detectTime: Long? = 0L
)
@Keep
data class CenterRoad(
val bearing: Double? = 0.0,
val laneNo: Int? = null,
val roadId: String? = null,
val roadName: String? = null,
val tileId: Int? = 0
)
@Keep
data class Congestion(
val laneId: Int? = null,
val level: Int? = null
)
@Keep
data class Obstacle(
val boundBox: List<PointX>? = null,
val center: Point? = null,
val id: Int? = null,
val polygon: List<Point>? = null,
val score: Double? = null,
val type: Int? = null
)
@Keep
data class Point(
val lon: Double? = null,
val lat: Double? = null
)
@Keep
data class PointX(
val x: Double? = null,
val y: Double? = null
)

17
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/event/V2XEvent.kt
View File

@@ -1,10 +1,6 @@
package com.mogo.eagle.core.function.v2x.internal.event
import com.mogo.eagle.core.function.v2x.internal.data.V2XAdvanceWarning
import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerCardResult
import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerResponse
import com.mogo.eagle.core.function.v2x.internal.data.V2XOptimalRoute
import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget
import com.mogo.eagle.core.function.v2x.internal.data.*
import roadwork.Road.RW_PB
sealed class V2XEvent {
@@ -65,4 +61,15 @@ sealed class V2XEvent {
return "Marker(data=$data)"
}
}
/**
* 长链-道路事件扩展数据结构
*/
class RoadEventX(val type: Int = 70001, val data: V2XRoadXData): V2XEvent() {
override fun toString(): String {
return "RoadEventX(type=$type, data=$data)"
}
}
}

27
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_70001.kt Normal file
View File

@@ -0,0 +1,27 @@
package com.mogo.eagle.core.function.v2x.internal.socket
import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener
import com.mogo.eagle.core.function.v2x.internal.V2XManager
import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
import com.mogo.eagle.core.function.v2x.internal.data.V2XRoadXData
import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
import com.mogo.eagle.core.function.v2x.internal.logger.Logger
internal class V2XMessageListener_70001(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<V2XRoadXData> {
override fun target(msgType: Int): Class<V2XRoadXData> = V2XRoadXData::class.java
override fun onMsgReceived(msgType: Int, data: V2XRoadXData?) {
if (msgType != 70001) {
return
}
if (data == null) {
Logger.i(V2XManager.TAG, "V2XMessageListener_70001：message is null!")
return
}
Logger.i(V2XManager.TAG, "V2XMessageListener_70001:$data")
cbs?.forEach {
it.onAck(V2XEvent.RoadEventX(data = data))
}
}
}