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Merge remote-tracking branch 'origin/dev2_aiSdk' into dev2_aiSdk

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This commit is contained in:
董宏宇
2021-05-11 19:39:29 +08:00
parent e93a753b71 df63e2ac75
commit d1a943f7a0
16 changed files with 451 additions and 164 deletions
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9
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java
View File

@@ -1,20 +1,13 @@
package com.mogo.module.v2x;
import android.content.Context;
import android.util.Log;
import com.alibaba.android.arouter.launcher.ARouter;
import com.mogo.map.MogoLatLng;
import com.mogo.map.location.IMogoLocationClient;
import com.mogo.map.marker.IMogoMarkerManager;
import com.mogo.map.navi.IMogoNavi;
import com.mogo.map.overlay.IMogoOverlayManager;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.map.search.geo.IMogoGeoSearch;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.v2x.alarm.V2XCalculateServer;
import com.mogo.module.v2x.manager.IMoGoPersonWarnPolylineManager;
import com.mogo.module.v2x.manager.IMoGoStopPolylineManager;
@@ -23,10 +16,8 @@ import com.mogo.module.v2x.manager.IMoGoV2XMarkerManager;
import com.mogo.module.v2x.manager.IMoGoV2XPolylineManager;
import com.mogo.module.v2x.manager.IMoGoV2XStatusManager;
import com.mogo.module.v2x.manager.IMoGoWarnPolylineManager;
import com.mogo.module.v2x.manager.impl.MoGoV2XCloundDataManager;
import com.mogo.module.v2x.network.V2XRefreshModel;
import com.mogo.module.v2x.utils.V2XUtils;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.service.IMogoServiceApis;
import com.mogo.service.MogoServicePaths;
import com.mogo.service.adas.IMogoADASController;

16
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XSocketManager.java
View File

@@ -10,6 +10,7 @@ import com.mogo.module.v2x.listener.V2XMessageListener_401010;
import com.mogo.module.v2x.listener.V2XMessageListener_401011;
import com.mogo.module.v2x.listener.V2XMessageListener_401012;
import com.mogo.module.v2x.listener.V2XMessageListener_402000;
import com.mogo.module.v2x.listener.V2XMessageListener_402001;
import com.mogo.utils.logger.Logger;
import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
@@ -34,7 +35,7 @@ public class V2XSocketManager {
private V2XMessageListener_401009 v2XMessageListener_401009;
private V2XMessageListener_401010 v2XMessageListener_401010;
private V2XMessageListener_402000 mV2XMessageListener_402000;
private V2XMessageListener_402001 mV2XMessageListener402001;
private V2XSocketManager() {
}
@@ -65,6 +66,7 @@ public class V2XSocketManager {
register401007();
register401009();
register401020();
registerWarningMsg();
// TODO 这里是前瞻需求，量产版本需要注释
register401003();
@@ -72,6 +74,7 @@ public class V2XSocketManager {
//register401006();
}
/**
* 反注册消息通道，不再进行接受
*/
@@ -225,6 +228,7 @@ public class V2XSocketManager {
v2XMessageListener_401009
);
}
/**
* * 车路云—场景预警-V1.0
* * http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=52829799
@@ -241,6 +245,16 @@ public class V2XSocketManager {
);
}
/**
* * 车路云—场景预警-V1.0
* * http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=52829799
* * 弱势交通参与者
*/
public void registerWarningMsg() {
mV2XMessageListener402001 = new V2XMessageListener_402001();
V2XServiceManager.getMoGoSocketManager().registerOnMessageListener(402001, mV2XMessageListener402001);
}
/**
* * 2.0.3

18
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
View File

@@ -5,7 +5,7 @@ import android.content.Intent;
import android.util.Log;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.module.v2x.listener.V2XWarnMessageListener;
import com.mogo.module.v2x.listener.V2XMessageListener_402001;
import com.mogo.module.v2x.utils.V2XUtils;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.utils.GsonUtil;
@@ -22,7 +22,7 @@ public class V2XWaringManager {
private static V2XWaringManager mV2XWaringManager;
//TODO 需要修改
private V2XWarnMessageListener v2XWarnMessageListener;
private V2XMessageListener_402001 mV2XMessageListener402001;
private V2XWaringManager() {
@@ -83,7 +83,7 @@ public class V2XWaringManager {
// 加载数据源
V2XWarningEntity warningEntity = GsonUtil.objectFromJson(baos.toString(), V2XWarningEntity.class);
V2XServiceManager.getMoGoV2XCloundDataManager().analysisV2XCloundDataEvent(warningEntity);
// V2XServiceManager.getMoGoV2XCloundDataManager().analysisV2XCloundDataEvent(warningEntity);
} catch (Exception e) {
e.printStackTrace();
}
@@ -94,10 +94,10 @@ public class V2XWaringManager {
*/
public void unregisterAdasSocketMessage() {
Logger.w(V2XConst.LOG_NAME_WARN, "反注册Socket通道....");
if (v2XWarnMessageListener != null) {
if (mV2XMessageListener402001 != null) {
V2XServiceManager
.getMoGoSocketManager()
.unregisterOnMessageListener(401018, v2XWarnMessageListener);
.unregisterOnMessageListener(401018, mV2XMessageListener402001);
}
}
@@ -105,16 +105,16 @@ public class V2XWaringManager {
* 道路预警 弱势群体事件，行人 TODO type
*/
private void registerWarnListener() {
v2XWarnMessageListener = new V2XWarnMessageListener();
mV2XMessageListener402001 = new V2XMessageListener_402001();
V2XServiceManager
.getMoGoSocketManager()
.registerOnMessageListener(
401018,
v2XWarnMessageListener);
mV2XMessageListener402001);
}
public V2XWarnMessageListener getV2XMessageListener() {
return v2XWarnMessageListener;
public V2XMessageListener_402001 getV2XMessageListener() {
return mV2XMessageListener402001;
}

48
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_402001.java Normal file
View File

@@ -0,0 +1,48 @@
package com.mogo.module.v2x.listener;
import android.content.Intent;
import android.util.Log;
import androidx.localbroadcastmanager.content.LocalBroadcastManager;
import com.mogo.module.common.entity.V2XMessageEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.module.v2x.V2XConst;
import com.mogo.module.v2x.V2XServiceManager;
import com.mogo.module.v2x.entity.net.V2XOptimalRouteDataRes;
import com.mogo.module.v2x.utils.V2XUtils;
import com.mogo.service.connection.IMogoOnMessageListener;
/**
* desc: 下发的云端预警数据
*/
public class V2XMessageListener_402001 implements IMogoOnMessageListener<V2XOptimalRouteDataRes> {
@Override
public Class<V2XOptimalRouteDataRes> target() {
return V2XOptimalRouteDataRes.class;
}
@Override
public void onMsgReceived(V2XOptimalRouteDataRes info) {
Log.d(V2XConst.LOG_NAME_WARN, "V2XWarnMessageListener onMsgReceived ---11---> ");
//Logger.d(MODULE_NAME, "V2XMessageListener_401011==V2X地图气泡数据刷新：\n" + GsonUtil.jsonFromObject(response));
V2XUtils.runOnBackgroundThread(() -> {
// 解析不同的Marker类型，然后对应的进行绘制
if (info != null) {
// 解析存储道路事件 liyz
Log.d(V2XConst.LOG_NAME_WARN, "V2XWarnMessageListener onMsgReceived --22--> ");
V2XMessageEntity<V2XOptimalRouteDataRes> v2xMessageEntity = new V2XMessageEntity<>();
// 控制类型
v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_PUSH_VR_SHOW);
// 设置数据
v2xMessageEntity.setContent(info);
Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2xMessageEntity);
LocalBroadcastManager.getInstance(V2XUtils.getApp()).sendBroadcast(intent);
}
});
}
}

37
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XWarnMessageListener.java
View File

@@ -1,37 +0,0 @@
package com.mogo.module.v2x.listener;
import android.util.Log;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.module.v2x.V2XConst;
import com.mogo.module.v2x.V2XServiceManager;
import com.mogo.module.v2x.utils.V2XUtils;
import com.mogo.service.connection.IMogoOnMessageListener;
/**
* desc: 下发的云端预警数据
*
*/
public class V2XWarnMessageListener implements IMogoOnMessageListener<V2XWarningEntity> {
@Override
public Class<V2XWarningEntity> target() {
return V2XWarningEntity.class;
}
@Override
public void onMsgReceived(V2XWarningEntity info) {
Log.d(V2XConst.LOG_NAME_WARN, "V2XWarnMessageListener onMsgReceived ---11---> ");
//Logger.d(MODULE_NAME, "V2XMessageListener_401011==V2X地图气泡数据刷新：\n" + GsonUtil.jsonFromObject(response));
V2XUtils.runOnBackgroundThread(() -> {
// 解析不同的Marker类型，然后对应的进行绘制
if (info != null) {
// 解析存储道路事件 liyz
Log.d(V2XConst.LOG_NAME_WARN, "V2XWarnMessageListener onMsgReceived --22--> ");
V2XServiceManager.getMoGoV2XCloundDataManager().analysisV2XCloundDataEvent(info);
}
});
}
}

4
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
View File

@@ -7,8 +7,6 @@ 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;
@@ -80,7 +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/receiver/AdasDataBroadcastReceiver.java
View File

@@ -23,7 +23,7 @@ public class AdasDataBroadcastReceiver extends BroadcastReceiver {
// Logger.d(V2XConst.LOG_NAME_WARN, "AdasDataBroadcastReceiver -->" + GsonUtil.jsonFromObject(adasResult));
String adasResult = (String) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
Log.d(V2XConst.LOG_NAME_WARN, "AdasDataBroadcastReceiver -----> ");
V2XWaringManager.getInstance().handleAdasData(intent);
// V2XWaringManager.getInstance().handleAdasData(intent);
} catch (Exception e) {
e.printStackTrace();

29
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/TestPanelBroadcastReceiver.java
View File

@@ -16,6 +16,7 @@ import com.mogo.module.v2x.V2XConst;
import com.mogo.module.v2x.V2XServiceManager;
import com.mogo.module.v2x.entity.net.V2XOptimalRouteDataRes;
import com.mogo.module.v2x.entity.net.V2XSpecialCarRes;
import com.mogo.module.v2x.scenario.impl.V2XScenarioManager;
import com.mogo.module.v2x.scenario.scene.livecar.V2XVoiceCallLiveBiz;
import com.mogo.module.v2x.utils.TestOnLineCarUtils;
import com.mogo.module.v2x.utils.V2XSQLiteUtils;
@@ -76,17 +77,9 @@ public class TestPanelBroadcastReceiver extends BroadcastReceiver {
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
LocalBroadcastManager.getInstance(mContext).sendBroadcast(intent);
// 存储本地，出行动态作展示
saveLocalStory(V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING,
v2XMessageEntity.getContent().getNoveltyInfo());
} else if (sceneType == 2) {//车路云—场景预警-V1.0 碰撞预警
V2XMessageEntity<V2XWarningEntity> v2XMessageEntity =
TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData();
Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
LocalBroadcastManager.getInstance(mContext).sendBroadcast(intent);
} else if (sceneType == 3) {//触发H5推送事件
V2XMessageEntity<V2XPushMessageEntity> v2XMessageEntity =
TestOnLineCarUtils.getV2XScenarioPushEventData();
@@ -141,17 +134,21 @@ public class TestPanelBroadcastReceiver extends BroadcastReceiver {
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
LocalBroadcastManager.getInstance(mContext).sendBroadcast(intent);
} else if (sceneType == 12) {//车路云场景预警-右侧
Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "right");
V2XMessageEntity messageEntity = TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData("right");
Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, messageEntity);
LocalBroadcastManager.getInstance(mContext).sendBroadcast(intent);
mContext.sendBroadcast(intent);
} else if (sceneType == 13) {//车路云场景预警-左侧
Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "left");
mContext.sendBroadcast(intent);
V2XMessageEntity messageEntity = TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData("left");
Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, messageEntity);
LocalBroadcastManager.getInstance(mContext).sendBroadcast(intent);
} else if (sceneType == 14) {//行人预警，行人路线预测 车路云预警-前方行人
Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "pedestrians");
mContext.sendBroadcast(intent);
V2XMessageEntity messageEntity = TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData("pedestrians");
Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, messageEntity);
LocalBroadcastManager.getInstance(mContext).sendBroadcast(intent);
} else if (sceneType == 15) {// 交通状况查询
V2XServiceManager.getIMogoTrafficUploadProvider().verifyCurrentTrafficStatus();
} else if (sceneType == 16) {//触发基于目的地预测的线路推荐

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;
}

16
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java
View File

@@ -226,14 +226,14 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
});
//车路云—场景预警-V1.0 碰撞预警
mBtnTriggerWarningEvent.setOnClickListener(v -> {
V2XMessageEntity<V2XWarningEntity> v2XMessageEntity =
TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData();
Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
LocalBroadcastManager.getInstance(getContext()).sendBroadcast(intent);
});
// mBtnTriggerWarningEvent.setOnClickListener(v -> {
// V2XMessageEntity<V2XWarningEntity> v2XMessageEntity =
// TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData("right");
//
// Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
// intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
// LocalBroadcastManager.getInstance(getContext()).sendBroadcast(intent);
// });
mBtnTriggerPushEvent.setOnClickListener(v -> {
V2XMessageEntity<V2XPushMessageEntity> v2XMessageEntity =

38
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,
@@ -95,7 +85,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
.getMogoTopViewManager()
.addView(getV2XWindow().getView(), layoutParams, this);
getV2XWindow().show(mMarkerEntity);
// getV2XMarker().drawPOI(mMarkerEntity);
getV2XMarker().drawPOI(mMarkerEntity);
}
}
@@ -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) {
}
}

345
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
View File

@@ -1,14 +1,18 @@
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;
import com.mogo.module.common.drawer.V2XWarnDataDrawer;
import com.mogo.module.common.drawer.marker.EmptyMarkerView;
import com.mogo.module.common.drawer.marker.IMarkerView;
import com.mogo.module.common.drawer.marker.MapMarkerAdapter;
@@ -17,10 +21,13 @@ import com.mogo.module.common.entity.MarkerLocation;
import com.mogo.module.common.entity.MarkerShowEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.module.common.utils.Trigonometric;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.receiver.MogoReceiver;
import com.mogo.module.v2x.R;
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.listener.V2XLocationListener;
import com.mogo.module.v2x.marker.OptimalSpeedMarkerView;
import com.mogo.module.v2x.marker.V2XFrontTargetMarkerView;
import com.mogo.module.v2x.scenario.view.IV2XMarker;
@@ -30,11 +37,15 @@ import com.mogo.utils.ViewUtils;
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.common.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;
import static com.mogo.module.common.entity.V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_TOP;
import static com.mogo.module.v2x.V2XConst.V2X_FRONT_WARNING_MARKER;
import static com.mogo.module.v2x.V2XConst.V2X_OPTIMAL_SPEED_MARKER;
import static com.mogo.module.v2x.V2XServiceManager.getContext;
/**
* @author liujing
@@ -43,64 +54,310 @@ import static com.mogo.module.v2x.V2XConst.V2X_OPTIMAL_SPEED_MARKER;
*/
public class V2XWarningMarker implements IV2XMarker {
private static final String TAG = "V2XWarningMarker";
private V2XWarningEntity mMarkerEntity;
private MarkerShowEntity markerShowEntity = new MarkerShowEntity();
private Context mContext = V2XServiceManager.getContext();
private IMogoMarker optimalMarker = null;
private static String WARNING_ARROWS = "WARNING_ARROWS";
private V2XWarningEntity mCloundWarningInfo;
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;
private MogoLatLng carLocation = new MogoLatLng(
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(),
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon()
);
/*
* 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 static long showTime = 4000;
private float bearing;
@Override
public void drawPOI(Object entity) {
try {
mMarkerEntity = (V2XWarningEntity) entity;
MarkerLocation location = new MarkerLocation();
location.setLat(mMarkerEntity.getLat());
location.setLon(mMarkerEntity.getLon());
markerShowEntity.setMarkerLocation(location);
MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
.latitude(mMarkerEntity.getLat())
.longitude(mMarkerEntity.getLon())
.anchor(0.5f, 0.5f)
.zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH);
optionsRipple
.icon(ViewUtils.fromView(new EmptyMarkerView(mContext)));
optimalMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_FRONT_WARNING_MARKER, optionsRipple);
optimalMarker.setInfoWindowAdapter(new SimpleWindow3DAdapter(new V2XFrontTargetMarkerView(mContext)));
optimalMarker.showInfoWindow();
UiThreadHandler.postDelayed(() -> {
optimalMarker.hideInfoWindow();
}, 8000);
mCloundWarningInfo = (V2XWarningEntity) entity;
drawLineWithEntity();
} catch (Exception e) {
Log.d(TAG,e.toString());
}
}
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);
@Override
public void clearPOI() {
V2XServiceManager.getMarkerManager().removeMarkers(V2X_FRONT_WARNING_MARKER);
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(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);
}, 500);
//延迟3秒清理线
UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
isSelfLineClear = true;
}, showTime);
}
}
public void clearLine() {
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
/**
* 场景如:车辆行驶正前方绘制红色区域(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 drawRedWarningLineFrontOfStopLine(V2XWarningEntity info, MogoLatLng
startLatLng, MogoLatLng mogoLatLng) {
if (info != null) {
IMogoPolyline polyLine = V2XServiceManager.getMoGoStopPolylineManager().getMogoStopPolyline();
MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon);
float distance = CoordinateUtils.calculateLineDistance(startLatLng.lon, startLatLng.lat, endLatlng.lon, endLatlng.lat);
MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng, distance / 2, mCloundWarningInfo.getAngle());
Log.d(TAG, "红色区域起始点 = " + startLatLng.lon + "," + startLatLng.lat +
"中间点坐标:" + addMiddleLoc.lon + "," + addMiddleLoc.lat
+ "终点" + endLatlng.lon + "," + endLatlng.lat);
if (polyLine != null) {
Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine polyLine != null");
polyLine.setPoints(Arrays.asList(startLatLng, addMiddleLoc, endLatlng));
polyLine.setTransparency(0.5f);
} else {
DrawLineInfo lineInfo = new DrawLineInfo();
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() * 14 + 5);
V2XServiceManager.getMoGoStopPolylineManager().drawStopPolyline(getContext(), lineInfo);
}
} else {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
V2XServiceManager.getMoGoStopPolylineManager().clearLine();
}
}
/**
* 补点后的停止线经纬度合集
*/
public void pointsBetween() {
try {
fillPoints.clear();
List stopLines = mCloundWarningInfo.getStopLines();
if (stopLines.size() > 1) {
MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
//两点间的距离
float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
float average = distance / 3;
//两点间的角度
double angle = Trigonometric.getAngle(x.lon, x.lat, y.lon, y.lat);
//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);
fillPoints.add(newLocation);
}
fillPoints.add(y);
}
} catch (Exception e) {
e.printStackTrace();
}
}
/*
* 2D资源绘制停止线
* 停止线绘制
* */
private void handleStopLine() {
try {
if (mCloundWarningInfo != null) {
V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
for (int i = 0; i < fillPoints.size(); i++) {
V2XWarningEntity entity = new V2XWarningEntity();
MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
entity.setLat(latLng.lat);
entity.setLon(latLng.lon);
entity.heading = mCloundWarningInfo.heading;
V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
private MogoLatLng getMogoLat(MogoLatLng latlng) {
MogoLatLng newLocation = Trigonometric.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
return newLocation;
}
/*
* 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;
}
/**
* 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)
*/
public void drawSelfCarLine(double lon, double lat, float bearing) {
if (!isSelfLineClear) {
IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
if (mCloundWarningInfo != null) {
MogoLatLng startLatlng = null;
MogoLatLng endLatlng = null;
MogoLatLng addMiddleLoc = null;
if (!isFirstLocation) {
carLocation = getMogoLat(new MogoLatLng(lat, lon));
isFirstLocation = true;
}
//绘制线的终点(在停止线上或者预碰撞点上)
endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
//自车位置
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, Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));
Log.d(TAG, "自车为起点绘制 自车;" + startLatlng.lon + "," + startLatlng.lat +
"中间扩展点" + addMiddleLoc.lon + "," + addMiddleLoc.lat + "终点:" + endLatlng.lon + "," + endLatlng.lat);
if (mogoPolyline != null) {
mogoPolyline.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
mogoPolyline.setTransparency(0.5f);
} else {
DrawLineInfo info = new DrawLineInfo(); // 对象
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(bearing);
info.setWidth(mCloundWarningInfo.getRoadwidth() * 14 + 5);
info.setDirection(mCloundWarningInfo.getDirection());
V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
}
} else {
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
}
}
}
/**
* 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) {
if (info != null) {
IMogoPolyline polyLine = V2XServiceManager.getMoGoPersonWarnPolylineManager().getMogoPersonWarnPolyline();
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,
Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));//补点
if (polyLine != null) {
Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
polyLine.setTransparency(0.5f);
} else {
DrawLineInfo lineInfo = new DrawLineInfo();
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() * 14 + 5);
V2XServiceManager.getMoGoPersonWarnPolylineManager().drawPersonWarnPolyline(getContext(), lineInfo);
//识别物到预碰撞点之间的箭头
addArrows(startLatlng, endLatlng);
}
} else {
Log.e(V2XConst.LOG_NAME_WARN, "info == null");
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
}
}
//侧面目标物与碰撞点之间添加多个小箭头
private void addArrows(MogoLatLng startLatLng, MogoLatLng endLatLng) {
float distance = CoordinateUtils.calculateLineDistance(
startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat);
double rotate = Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat);
Log.d(TAG, "添加小箭头--目标物与预碰撞点之间的距离是" + String.valueOf(distance));
if (distance > 5) {
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));
Log.d(TAG, "小箭头位置" + newLo);
V2XWarnDataDrawer.getInstance().drawerArrowsMarkerWithLocation(newLo, WARNING_ARROWS, 10, new Double(rotate).intValue());
}
}
//延迟3秒清理线
UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
}, showTime);
}
/*
* 2D资源绘制停止线 暂时不需要
* */
private void drawStopLineWith2Resource() {
MogoLatLng carlo = mMarkerEntity.getCarLocation();
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 = Trigonometric.getNewLocation(carlo, mMarkerEntity.getStopLineDistance(), mMarkerEntity.getAngle());
MogoLatLng drawStopLineLon = Trigonometric.getNewLocation(carlo, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
Log.d(TAG, "2D资源绘" + drawStopLineLon);
MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
.latitude(drawStopLineLon.getLat())
@@ -117,4 +374,26 @@ public class V2XWarningMarker implements IV2XMarker {
stopLine.hideInfoWindow();
}, 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);
}
public void clearLine() {
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
}
}

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);
}
}

31
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java
View File

@@ -7,6 +7,7 @@ import com.mogo.module.common.entity.V2XPushMessageEntity;
import com.mogo.module.common.entity.V2XRoadEventEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.module.v2x.R;
import com.mogo.module.v2x.V2XServiceManager;
import com.mogo.module.v2x.entity.net.V2XOptimalRouteDataRes;
import com.mogo.module.v2x.entity.net.V2XSpecialCarRes;
import com.mogo.utils.network.utils.GsonUtil;
@@ -158,11 +159,25 @@ public class TestOnLineCarUtils {
return null;
}
public static V2XMessageEntity<V2XWarningEntity> getV2XScenarioPushFrontWarningEventData() {
/**
* 测试数据
*/
public static V2XMessageEntity getV2XScenarioPushFrontWarningEventData(String adasResult) {
try {
int id = R.raw.scenario_warning_event_data_right;
switch (adasResult) {
case "left":
id = R.raw.scenario_warning_event_data_left;
break;
case "pedestrians":
id = R.raw.scenario_warning_event_data_pedestrians;
break;
default:
}
InputStream inputStream = V2XUtils.getApp()
.getResources()
.openRawResource(R.raw.scenario_warning_event_data_right);
.openRawResource(id);
ByteArrayOutputStream baos = new ByteArrayOutputStream();
int len = -1;
byte[] buffer = new byte[1024];
@@ -173,14 +188,10 @@ public class TestOnLineCarUtils {
// 加载数据源
V2XWarningEntity warningEntity = GsonUtil.objectFromJson(baos.toString(), V2XWarningEntity.class);
V2XMessageEntity<V2XWarningEntity> v2xMessageEntity = new V2XMessageEntity<>();
// 控制类型
v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_TOP);
// 设置数据
v2xMessageEntity.setContent(warningEntity);
// 控制展示状态
v2xMessageEntity.setShowState(true);
return v2xMessageEntity;
V2XMessageEntity messageEntity = new V2XMessageEntity();
messageEntity.setType(warningEntity.getDirection());
messageEntity.setContent(warningEntity);
return messageEntity;
} catch (Exception e) {
e.printStackTrace();
}