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

2021-04-13 17:31:06 +08:00
parent 7a7241d574 6fb89a2265
commit d23ed4a3cd
17 changed files with 315 additions and 212 deletions
--- 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<MogoLatLng> locations;
+
    private double heading;

    private float width;
@@ -70,4 +76,12 @@ public class DrawLineInfo {
    public void setDirection(int direction) {
        this.direction = direction;
    }
+
+    public List<MogoLatLng> getLocations() {
+        return locations;
+    }
+
+    public void setLocations(List<MogoLatLng> locations) {
+        this.locations = locations;
+    }
 }
--- 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<Integer> 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<MogoLatLng> 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);
--- 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<Integer> 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<MogoLatLng> 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);
--- 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 +19,14 @@ 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.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 +39,7 @@ 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;

@@ -60,148 +51,129 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog

    @Override
    public void analysisV2XCloundDataEvent(V2XWarningEntity cloundWarningInfo) {
-        Log.d(V2XConst.LOG_NAME_WARN, "analysisV2XCloundDataEvent -----> ");
-        mCloundWarningInfo = cloundWarningInfo;
-        showTime = mCloundWarningInfo.getShowTime();
-        pointsBetween();
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+            Log.d(V2XConst.LOG_NAME_WARN, "analysisV2XCloundDataEvent -----> ");
+            mCloundWarningInfo = cloundWarningInfo;
+            showTime = mCloundWarningInfo.getShowTime();
+            pointsBetween();

-        //发送预警提示
-        MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getType(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
-        isSelfLineClear = false;
-        isFirstLocation = false;
+            //预警蒙层
+            MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getType(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
+            isSelfLineClear = false;
+            isFirstLocation = false;

-        if (cloundWarningInfo.getDirection() == 1) { //前方
-            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
-                drawStopLine(cloundWarningInfo, newLocation);
-                //添加停止线marker
-                handleStopLine();
-            }, 800);
+            if (cloundWarningInfo.getDirection() == 1) { //前方
+                MogoLatLng newLocation = LocationUtils.getNewLocation((MogoLatLng) fillPoints.get(0), 80, cloundWarningInfo.getAngle());
+                //停止线前方画线
+                WorkThreadHandler.getInstance().postDelayed(() -> {
+                    //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
+                    drawStopLine(cloundWarningInfo, newLocation);
+                    //添加停止线marker
+                    handleStopLine();
+                }, 500);

-            UiThreadHandler.postDelayed(() -> {
-                V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
-                V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
-                V2XServiceManager.getMoGoStopPolylineManager().clearLine();
-                isSelfLineClear = true;
-            }, showTime);
+                UiThreadHandler.postDelayed(() -> {
+                    V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
+                    V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+                    V2XServiceManager.getMoGoStopPolylineManager().clearLine();
+                    isSelfLineClear = true;
+                }, showTime);

-        } else { //左侧或者右侧
-            WorkThreadHandler.getInstance().postDelayed(() -> {
-                //绘制识别物与交汇点连线，并且更新连线数据
-                drawOtherObjectLine(cloundWarningInfo);
-                //二轮车和行人的渲染和移动
-                V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
-            }, 500);
+            } else { //左侧或者右侧
+                WorkThreadHandler.getInstance().postDelayed(() -> {
+                    //绘制识别物与交汇点连线，并且更新连线数据
+                    drawOtherObjectLine(cloundWarningInfo);
+                    //二轮车和行人的渲染和移动
+                    V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
+                }, 500);

-            //延迟3秒清理线
-            UiThreadHandler.postDelayed(() -> {
-                V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
-                V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
-                isSelfLineClear = true;
-            }, showTime);
+                //延迟3秒清理线
+                UiThreadHandler.postDelayed(() -> {
+                    V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
+                    V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+                    isSelfLineClear = true;
+                }, showTime);
+            }
        }
    }


    private void handleStopLine() {
-        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.setCollisionLat(mCloundWarningInfo.getCollisionLat());
-            entity.setCollisionLon(mCloundWarningInfo.getCollisionLon());
-            entity.heading = mCloundWarningInfo.heading;
-            V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
+        if (mCloundWarningInfo != null) {
+            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.setCollisionLat(mCloundWarningInfo.getCollisionLat());
+                entity.setCollisionLon(mCloundWarningInfo.getCollisionLon());
+                entity.heading = mCloundWarningInfo.heading;
+                V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
+            }
        }
    }

-    /*
-     * 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();
+        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);
+        float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
+        MogoLatLng addMiddleLoc = LocationUtils.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
        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),
-                        new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon)));
+                polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
                polyLine.setTransparency(0.5f);
            } else {
                DrawLineInfo lineInfo = new DrawLineInfo();
-                MogoLatLng startLatlng = new MogoLatLng(mNewLocation.lat, mNewLocation.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);
+                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());
+                lineInfo.setWidth(info.getRoadwidth() * 10 + 5);
                V2XServiceManager.getMoGoStopPolylineManager().drawStopPolyline(getContext(), lineInfo);
            }
        } else {
-            Log.e(V2XConst.LOG_NAME_WARN, "drawStopLine info == null");
            V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
        }
    }


    /**
-     * 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();
+        MogoLatLng startLatlng = new MogoLatLng(info.getLat(), info.getLon());
+        MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon());
+        float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
+        MogoLatLng addMiddleLoc = LocationUtils.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
        if (info != null) {
            if (polyLine != null) {
                Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
-                polyLine.setPoints(Arrays.asList(new MogoLatLng(info.getLat(), info.getLon()),
-                        new MogoLatLng(info.getCollisionLat(), info.getCollisionLon())));
+                polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
                polyLine.setTransparency(0.5f);
            } else {
                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);
+                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());
+                lineInfo.setWidth(info.getRoadwidth() * 10 + 5);
                V2XServiceManager.getMoGoPersonWarnPolylineManager().drawPersonWarnPolyline(getContext(), lineInfo);
            }
        } else {
@@ -221,9 +193,13 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
    @Override
    public void onCarLocationChanged2(Location latLng) {
 //        Log.d(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude() + "---isSelfLineClear = " + isSelfLineClear);
-        //当行人经纬度交点 开始画线，否则清理
-        mCloundWarningInfo.setCarLocation(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
-        drawSlefCarLine(latLng);
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+            //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()));
+            }
+            drawSlefCarLine(latLng);
+        }
    }

    @Override
@@ -232,37 +208,42 @@ 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) {
+                MogoLatLng startLatlng = null;
+                MogoLatLng endLatlng = null;
+                MogoLatLng addMiddleLoc = null;
                if (!isFirstLocation) {
-                    mNewLocation = getMogoLat(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
-                    Log.d(V2XConst.LOG_NAME_WARN, "drawSlefCarLine lon = " + mNewLocation.lon + "---lat = " + mNewLocation.lat);
+                    startLatlng = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
+                    carLocation = getMogoLat(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
+                    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);
+                    addMiddleLoc = LocationUtils.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
+                    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())));
+                    mogoPolyline.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
                    mogoPolyline.setTransparency(0.5f);
                } else {
-//                    Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 mogoPolyline == null width = " + mCloundWarningInfo.getRoadwidth());
                    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());
+                    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()); //TODO 还需要转换比例尺
+                    info.setWidth(mCloundWarningInfo.getRoadwidth() * 10 + 5);
                    info.setDirection(mCloundWarningInfo.getDirection());
                    V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
                }
            } else {
-                Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 mCloundWarningInfo == null");
                V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
            }
        }
@@ -297,7 +278,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
    }

    private MogoLatLng getMogoLat(MogoLatLng latlng) {
-        MogoLatLng newLocation = LocationUtils.getNewLocation(latlng, mCloundWarningInfo.getDistance(), mCloundWarningInfo.getDirection());
+        MogoLatLng newLocation = LocationUtils.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getDirection());
        return newLocation;
    }

--- 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<Integer> 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<MogoLatLng> 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);
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/help/V2XSeekHelpButton.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/help/V2XSeekHelpButton.java
@@ -82,7 +82,7 @@ public class V2XSeekHelpButton implements IV2XButton {
        tvCancel.setOnClickListener(v -> {
            doAction();
        });
-        ViewGroup.LayoutParams layoutParams = new ViewGroup.LayoutParams(ViewGroup.LayoutParams.MATCH_PARENT,
+        ViewGroup.LayoutParams layoutParams = new ViewGroup.LayoutParams((int) V2XUtils.getApp().getResources().getDimension(R.dimen.dp_640),
                (int) V2XUtils.getApp().getResources().getDimension(R.dimen.dp_140));
        V2XServiceManager.getMogoTopViewManager().addView(topView, layoutParams);
    }
--- 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);
+    }
 }