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[2.13.0-arch-opt] v2x remove

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This commit is contained in:
zhongchao
2023-02-17 21:31:27 +08:00
parent 18f3954545
commit d5474743bf
143 changed files with 160 additions and 269 deletions
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9
core/function-impl/mogo-core-function-biz/src/main/AndroidManifest.xml
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@@ -1,5 +1,12 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.mogo.eagle.core.function.biz">
<application>
<receiver android:name="com.mogo.eagle.function.biz.v2x.v2n.test.TestV2XReceiver">
<intent-filter>
<action android:name="com.v2x.test_panel_control" />
<category android:name="android.intent.category.DEFAULT" />
</intent-filter>
</receiver>
</application>
</manifest>

15
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
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@@ -17,6 +17,8 @@ import com.mogo.eagle.function.biz.v2x.overview.OverViewDataManager
import com.mogo.eagle.function.biz.v2x.overview.db.OverviewDb
import com.mogo.eagle.function.biz.v2x.road.LineUploadManager
import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
import com.mogo.eagle.function.biz.v2x.v2n.V2XEventManager
import com.mogo.eagle.function.biz.v2x.v2n.V2XPoiLoader.Companion.v2xPoiLoader
import com.mogo.eagle.function.biz.v2x.vip.VipCarManager
@Route(path = MogoServicePaths.PATH_FUNC_BIZ)
@@ -35,6 +37,10 @@ class FuncBizProvider : IMoGoFuncBizProvider {
OverviewDb.getDb(context)
MogoTrafficLightManager.INSTANCE.initServer(context)
VipCarManager.INSTANCE.initServer(context)
if(!(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
&& AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode))){
V2XEventManager.init(context)
}
if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
LineUploadManager.getInstance(context)?.init()
}
@@ -84,12 +90,21 @@ class FuncBizProvider : IMoGoFuncBizProvider {
OverViewDataManager.getAllV2XEventsByLineId(MoGoAiCloudClientConfig.getInstance().sn)
}
override fun queryV2XEvents() {
v2xPoiLoader.queryWholeRoadEvents()
}
override fun onDestroy() {
noticeSocketManager.release()
dispatchAutoPilotManager.release()
cronTaskManager.release()
VipCarManager.INSTANCE.destroy()
if(!(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
&& AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode))){
V2XEventManager.onDestroy()
}
if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
mContext?.let {
LineUploadManager.getInstance(it)?.onDestroy()

398
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt Normal file
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@@ -0,0 +1,398 @@
package com.mogo.eagle.function.biz.v2x.v2n
import android.annotation.SuppressLint
import android.content.Context
import android.content.Intent
import android.os.Handler
import android.os.Looper
import android.util.Log
import androidx.localbroadcastmanager.content.LocalBroadcastManager
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_V2N
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CLOUD_V2N
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.enums.EventTypeEnumNew
import com.mogo.eagle.core.data.enums.EventTypeHelper
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.map.MogoLocation
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
import com.mogo.eagle.core.data.msgbox.MsgBoxType
import com.mogo.eagle.core.data.msgbox.V2XMsg
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.data.v2x.V2XAdvanceWarning
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
import com.mogo.eagle.core.function.api.map.angle.*
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.function.biz.v2x.v2n.alarm.V2XAlarmServer
import com.mogo.eagle.function.biz.v2x.v2n.bridge.BridgeApi
import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst.BROADCAST_SCENE_EXTRA_KEY
import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst.BROADCAST_SCENE_HANDLER_ACTION
import com.mogo.eagle.function.biz.v2x.v2n.receiver.SceneBroadcastReceiver
import com.mogo.eagle.function.biz.v2x.v2n.scenario.impl.V2XScenarioManager
import com.mogo.eagle.function.biz.v2x.v2n.utils.toRoadMarker
import com.mogo.eagle.core.data.v2x.V2XEvent
import com.mogo.eagle.core.data.v2x.V2XMarkerCardResult
import com.mogo.eagle.core.data.v2x.V2XWarningTarget
import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
import com.mogo.eagle.function.biz.v2x.v2n.V2XPoiLoader.Companion.v2xPoiLoader
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
import com.mogo.eagle.core.utilcode.util.Utils
import com.mogo.eagle.function.biz.v2x.v2n.network.callback.IV2XCallback
import com.mogo.eagle.function.biz.v2x.v2n.utils.toV2XRoadEventEntity
import com.zhjt.service.chain.ChainLog
import com.zhjt.service.chain.TracingConstants
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.android.asCoroutineDispatcher
import kotlinx.coroutines.cancel
import kotlinx.coroutines.launch
import java.util.concurrent.atomic.AtomicBoolean
import mogo.telematics.pad.MessagePad
object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
IMoGoAutopilotIdentifyListener, IMoGoCloudListener {
private const val TAG = "V2XEventManager"
private val scope: CoroutineScope by lazy {
CoroutineScope(Handler(Looper.getMainLooper()).asCoroutineDispatcher(TAG))
}
private val hasInit by lazy { AtomicBoolean(false) }
fun init(context: Context) {
BridgeApi.init(context)
if (hasInit.compareAndSet(false, true)) {
registerListener()
v2xPoiLoader.startLoopPoi()
// 注册广播接收场景弹窗使用的
SceneBroadcastReceiver.register(context)
}
}
private fun registerListener() {
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 1,this)
v2xPoiLoader.addCallback(this)
CallerCloudListenerManager.addListener(TAG,this)
CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
}
private fun unRegisterListener() {
CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
v2xPoiLoader.removeCallback(this)
CallerCloudListenerManager.removeListener(TAG)
CallerAutopilotIdentifyListenerManager.removeListener(TAG)
}
override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
BridgeApi.location.set(mogoLocation)
mogoLocation?.let {
v2xPoiLoader.updateCheck(mogoLocation.longitude,mogoLocation.latitude)
refreshCarState(mogoLocation)
}
}
private fun refreshCarState(location: MogoLocation) {
// 巡航处理
val v2XRoadEventEntity = V2XAlarmServer.getDriveFrontAlarmEvent(
BridgeApi.v2xMarker()?.v2XRoadEventEntityList, location
)
if (v2XRoadEventEntity != null) {
val distance = v2XRoadEventEntity.distance
val min = if (EventTypeEnumNew.isCloudSocketEvent(v2XRoadEventEntity.poiType)) 0 else 5
CallerLogger.d(
"$M_V2X$TAG",
"--- trigger show before ---:data=>[${location.longitude}, ${location.latitude}, ${location.gnssSpeed}], distance: $distance, minDistance: $min, poiType: ${v2XRoadEventEntity.poiType}"
)
if (distance >= min) {
CallerLogger.d(
"$M_V2X$TAG",
"--- trigger show ---:poiType:" + v2XRoadEventEntity.poiType
)
val v2XMessageEntity = V2XMessageEntity<V2XRoadEventEntity>()
v2XMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING
v2XMessageEntity.content = v2XRoadEventEntity
V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity)
}
}
}
/**
* V2XEvent事件回调
*/
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_CLOUD_V2N,
linkCode = CHAIN_LINK_CLOUD,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_CLOUD_V2N,
paramIndexes = [0],
clientPkFileName = "sn"
)
override fun onAck(event: V2XEvent) {
Log.d("$M_V2X$TAG", "OK->: $event")
when (event) {
is V2XEvent.ForwardsWarning -> {
handleAdvanceWarningEvent(event)
}
is V2XEvent.Marker -> {
event.data.result?.let {
handleRoadMarkerEvent(it)
}
}
is V2XEvent.Road -> {
handleRoadMarkerEvent(event.data)
}
is V2XEvent.Warning -> {
handleWarningTargetEvent(event.data)
}
is V2XEvent.RoadAI -> {
if (FunctionBuildConfig.isV2NFromCar) {
return
}
handleRoadMarkerEvent(event.data.toRoadMarker())
}
is V2XEvent.RoadEventX -> {
handleRoadMarkerEvent(event.data.toRoadMarker())
}
else -> {
Logger.e(TAG, "onAck other event: $event")
}
}
}
@SuppressLint("NewApi")
override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
super.onAutopilotIdentifyPlanningObj(planningObjects)
if (!FunctionBuildConfig.isV2NFromCar) {
return
}
planningObjects?.let {
if (it.isNotEmpty()) {
val first = it.stream()
.filter { planningObj: MessagePad.PlanningObject -> planningObj.type >= 1000 }
.findFirst()
if (first.isPresent) {
val poiType = when (first.get().type) {
// 1004 -> { //V2N_RSM,静止事件，包括异常停车、异常静止障碍物
// }
1005 -> { //V2N_RSI,施工事件，包括锥桶或者挡板围城的施工场景，是个多边形包围区域
EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType
}
1007 -> { //三角牌
EventTypeEnumNew.FOURS_ACCIDENT_04.poiType
}
else -> {
return
}
}
CallerLogger.d("$M_V2X$TAG", "poiType : $poiType , 触发道路事件")
val trackedObj =
CallerMapIdentifyManager.getIdentifyObj(first.get().uuid.toString())
trackedObj?.let { t ->
CallerLogger.d("$M_V2X$TAG", "polygon size : ${(t.polygonList.size)}")
val v2XMessageEntity = V2XMessageEntity<V2XRoadEventEntity>()
v2XMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING
v2XMessageEntity.content = t.toRoadMarker(poiType).toV2XRoadEventEntity()
V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity)
}
}
}
}
}
private fun handleWarningTargetEvent(data: V2XWarningTarget) {
val v2xMessageEntity = V2XMessageEntity<V2XWarningTarget>()
v2xMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_WEAKNESS
// 设置数据
v2xMessageEntity.content = data
val intent = Intent(BROADCAST_SCENE_HANDLER_ACTION)
intent.putExtra(BROADCAST_SCENE_EXTRA_KEY, v2xMessageEntity)
LocalBroadcastManager.getInstance(Utils.getApp()).sendBroadcast(intent)
}
private fun handleRoadMarkerEvent(data: V2XMarkerCardResult) {
try {
scope.launch(Dispatchers.Default) {
BridgeApi.v2xMarker()?.analysisV2XRoadEvent(data)
}
} catch (e: Exception) {
e.printStackTrace()
}
}
//todo 可优化，与obu解析类似
private fun handleAdvanceWarningEvent(event: V2XEvent.ForwardsWarning) {
scope.launch {
val message = event.data
val trafficData = buildTrafficData(message)
var changeVisualAngle = false
when (message.status) {
1 -> {
var tempAppId = 0
var tempTts = ""
var tempContent = ""
when (message.typeId) {
1001 -> {
// 弱势交通碰撞预警
EventTypeHelper.getVRU { appId, tts, content ->
tempAppId = appId
tempTts = tts
tempContent = content
}
}
1002 -> {
// 弱势交通逆行预警
EventTypeHelper.getVRURI { appId, tts, content ->
tempAppId = appId
tempTts = tts
tempContent = content
}
}
1003 -> {
// 交叉路口碰撞预警
changeVisualAngle = true
tempAppId = EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType.toInt()
tempTts = EventTypeEnumNew.TYPE_USECASE_ID_ICW.tts
tempContent = EventTypeEnumNew.TYPE_USECASE_ID_ICW.content
}
1004 -> {
// 交叉路口碰撞预警
changeVisualAngle = true
tempAppId = EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType.toInt()
tempTts = String.format(
EventTypeEnumNew.TYPE_USECASE_ID_BSW.tts,
getWarningDirection()
)
tempContent = EventTypeEnumNew.TYPE_USECASE_ID_BSW.content
}
1006 -> {
// 逆向超车预警
tempAppId = EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType.toInt()
tempTts = EventTypeEnumNew.TYPE_USECASE_ID_DNPW.tts
tempContent = EventTypeEnumNew.TYPE_USECASE_ID_DNPW.content
}
1005 -> {
// 闯红灯预警
tempAppId = EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType.toInt()
tempTts = EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.tts
tempContent = EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.content
}
2001 -> {
// 最优车道100061
EventTypeHelper.getOptLine { appId, tts, content ->
tempAppId = appId
tempTts = tts
tempContent = content
}
}
3001 -> {
// 前方道路拥堵预警
EventTypeHelper.getTJW { appId, tts, content ->
tempAppId = appId
tempTts = tts
tempContent = content
}
}
}
// 不显示弹框，其它保留
if (tempContent.isEmpty() || tempTts.isEmpty()) {
Log.d("MsgBox-V2XEventManager", "alertContent或ttsContent为空!")
}
CallerMsgBoxManager.saveMsgBox(
MsgBoxBean(
MsgBoxType.V2X,
V2XMsg(
tempAppId.toString(),
tempContent,
tempTts
)
)
)
CallerHmiManager.warningV2X(
tempAppId.toString(),
tempContent,
tempTts,
object : IMoGoWarningStatusListener {
val change = changeVisualAngle
override fun onShow() {
if (change) {
CallerVisualAngleManager.changeAngle(TooClose)
}
}
override fun onDismiss() {
if (change) {
CallerVisualAngleManager.changeAngle(Default())
}
}
}
)
CallerMapUIServiceManager.getMarkerService()?.updateITrafficInfo(trafficData)
}
2 -> {
CallerMapUIServiceManager.getMarkerService()?.updateITrafficInfo(trafficData)
}
3 -> {
trafficData.uuid?.let {
CallerMapUIServiceManager.getMarkerService()?.removeCvxRvInfoIndInfo(it)
}
}
}
}
}
private fun getWarningDirection(): String {
return "右" //TODO renwj 原来的逻辑,预警方向先写死, 后续做兼容
}
private fun buildTrafficData(message: V2XAdvanceWarning): TrafficData {
return TrafficData().apply {
type = when (message.objectType) {
1 -> TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE
2 -> TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE
3 -> TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE
4 -> TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO
6 -> TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS
8 -> TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK
9 -> TrafficTypeEnum.TYPE_TRAFFIC_ID_CAMERA
else -> TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI
}
uuid = message.objectId
lat = message.position?.lat ?: 0.0
lon = message.position?.lon ?: 0.0
heading = message.heading ?: 0.0
threatLevel = message.threatLevel ?: -1
}
}
override fun onFail(msg: String) {
CallerLogger.e("$M_V2X$TAG", "Error: $msg")
}
fun onDestroy() {
if (hasInit.compareAndSet(true, false)) {
try {
scope.cancel()
} catch (e: Throwable) {
e.printStackTrace()
} finally {
unRegisterListener()
}
v2xPoiLoader.stopLoopPoi()
}
}
}

184
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XPoiLoader.kt Normal file
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@@ -0,0 +1,184 @@
package com.mogo.eagle.function.biz.v2x.v2n
import android.os.Handler
import android.os.Looper
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.enums.DataSourceType
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.data.msgbox.MsgBoxType
import com.mogo.eagle.core.data.msgbox.V2XMsg
import com.mogo.eagle.core.data.v2x.V2XEvent
import com.mogo.eagle.core.data.v2x.V2XMarkerResponse
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.eagle.function.biz.v2x.v2n.network.V2XRefreshModel
import com.mogo.eagle.function.biz.v2x.v2n.network.callback.IV2XCallback
import com.mogo.eagle.function.biz.v2x.v2n.network.callback.IV2XRefreshCallback
import com.mogo.eagle.function.biz.v2x.v2n.utils.DistanceUtils
import java.util.concurrent.CopyOnWriteArrayList
import java.util.concurrent.TimeUnit
import java.util.concurrent.atomic.AtomicReference
class V2XPoiLoader private constructor() {
companion object {
private const val TAG = "V2XPoiLoader"
val v2xPoiLoader by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
V2XPoiLoader()
}
}
private val lastLongitude by lazy { AtomicReference(0.0) }
private val lastLatitude by lazy { AtomicReference(0.0) }
private val realLongitude by lazy { AtomicReference(0.0) }
private val realLatitude by lazy { AtomicReference(0.0) }
private val handler by lazy {
Handler(Looper.getMainLooper())
}
private val cbs by lazy {
CopyOnWriteArrayList<IV2XCallback>()
}
/**
* 添加相关信息接口回调
* @param cb 要添加的回调接口
*/
fun addCallback(cb: IV2XCallback) {
if (cbs.contains(cb)) {
return
}
cbs += cb
}
/**
* 移除相关信息接口回调
* @param cb 要移除的回调接口
*/
fun removeCallback(cb: IV2XCallback) {
if (!cbs.contains(cb)) {
return
}
cbs.remove(cb)
}
fun updateCheck(longitude: Double, latitude: Double) {
realLongitude.set(longitude)
realLatitude.set(latitude)
val oldLon = lastLongitude.get()
val oldLat = lastLatitude.get()
var update = false
try {
if (oldLon == 0.0 || oldLat == 0.0) {
handler.removeCallbacks(refreshTask)
handler.post(refreshTask)
update = true
return
}
if (DistanceUtils.calculateLineDistance(oldLon, oldLat, longitude, latitude) >= 200f) {
handler.removeCallbacks(refreshTask)
handler.post(refreshTask)
update = true
}
} finally {
if (update) {
lastLatitude.set(latitude)
lastLongitude.set(longitude)
}
}
}
/**
* 开启loop Poi事件
*/
fun startLoopPoi() {
handler.removeCallbacks(refreshTask)
handler.post(refreshTask)
}
private val refreshTask = object : Runnable {
override fun run() {
V2XRefreshModel.querySnapshot(
longitude = realLongitude.get(), latitude = realLatitude.get(),
refreshCallback
)
handler.postDelayed(this, TimeUnit.SECONDS.toMillis(60))
}
}
fun stopLoopPoi() {
handler.removeCallbacks(refreshTask)
lastLatitude.set(0.0)
lastLongitude.set(0.0)
}
private val refreshCallback = object : IV2XRefreshCallback<V2XMarkerResponse> {
override fun onSuccess(result: V2XMarkerResponse) {
cbs.forEach {
it.onAck(V2XEvent.Marker(result))
}
}
override fun onFail(msg: String?) {
cbs.forEach {
it.onFail(msg ?: "")
}
}
}
/**
* 查询全览路径上的事件信息
*/
fun queryWholeRoadEvents() {
V2XRefreshModel.roadEventDispose()
val sn = MoGoAiCloudClientConfig.getInstance().sn
val lineId = getLineId()
if (lineId > 0) {
realQueryV2xEvents(lineId.toString(), sn)
} else {
UiThreadHandler.postDelayed({
realQueryV2xEvents(getLineId().toString(), sn)
}, 500)
}
}
private fun getLineId(): Long {
var lineId: Long = -1
val parameter = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo()
.autopilotControlParameters
if (parameter != null) {
if (parameter.autoPilotLine != null) {
lineId = parameter.autoPilotLine!!.lineId
CallerLogger.d(SceneConstant.M_V2X + TAG, "lineId为:$lineId")
} else {
CallerLogger.d(SceneConstant.M_V2X + TAG, "parameter.autoPilotLine为null")
}
} else {
CallerLogger.d(SceneConstant.M_V2X + TAG, "parameter为null")
}
return lineId
}
private fun realQueryV2xEvents(lineId: String, sn: String) {
V2XRefreshModel.getRoadEvents(lineId, sn) {
val size = it?.size ?: 0
if (size > 0) {
val msgBoxBean =
MsgBoxBean(MsgBoxType.V2X, V2XMsg("", "查询到当前全程共${size}个事件", ""))
msgBoxBean.sourceType = DataSourceType.SUMMARY
CallerMsgBoxManager.saveMsgBox(msgBoxBean)
}
}
}
}

120
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/alarm/V2XAlarmServer.java Normal file
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@@ -0,0 +1,120 @@
package com.mogo.eagle.function.biz.v2x.v2n.alarm;
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;
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
import java.util.Iterator;
import java.util.concurrent.CopyOnWriteArrayList;
import io.netty.util.internal.ConcurrentSet;
/**
* @author donghongyu
* e-mail : 1358506549@qq.com
* date : 2020/4/13 11:02 AM
* desc :
* 这里是车机端自己实现预警信息的触发操作，首先获取当前车位置周围2公里范围的道路事件，
* 普通模式：根据当前「车辆位置」及「行驶方向」判断「车辆前方」「500米」是否有道路事件需要触发。
* 导航模式：根据当前「路径规划」及「行驶方向」判断「路径前方」「500米」是否有道路事件需要触发。
* 疲劳驾驶：根据服务端下发的触发条件进行触发
* <p>
* version: 1.0
*/
public class V2XAlarmServer {
private static final String TAG = "V2XAlarmServer";
// 记录道路播报的事件
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
*/
public static V2XRoadEventEntity getDriveFrontAlarmEvent(
CopyOnWriteArrayList<V2XRoadEventEntity> v2XRoadEventEntityList,
MogoLocation currentLocation) {
try {
//Logger.d(TAG, "getDriveFrontAlarmEvent --- 1 ---" + currentLocation );
if (!showedEvents.isEmpty()) {
Iterator<V2XRoadEventEntity> iterator = showedEvents.iterator();
while (iterator.hasNext()) {
V2XRoadEventEntity next = iterator.next();
if (next == null) {
continue;
}
MarkerLocation poiLocation = next.getLocation();
if (poiLocation == null) {
continue;
}
if (isOutOfRange(poiLocation.getLon(), poiLocation.getLat(), currentLocation.getLongitude(), currentLocation.getLatitude(), currentLocation.getHeading())) {
iterator.remove();
}
}
}
//Logger.d(TAG, "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;
//Logger.d(TAG, "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();
//Logger.d(TAG, "distance:" + distance);
if (distance <= 500) {
if (EventTypeEnumNew.GHOST_PROBE.getPoiType().equals(v2XRoadEventEntity.getPoiType())) {
if (distance > 25) {
continue;
}
}
// 2、道路事件方向与当前行驶方向角度偏差《20度以内
double carBearing = currentLocation.getHeading();
double eventBearing = eventLocation.getAngle();
double diffAngle = DrivingDirectionUtils.getAngleDiff(carBearing, eventBearing);
//Logger.d(TAG, "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(
currentLocation.getLongitude(),
currentLocation.getLatitude(),
eventLocation.getLon(),
eventLocation.getLat(),
(int) currentLocation.getHeading()
);
//Logger.d(TAG, "eventAngle:" + eventAngle);
if (0 <= eventAngle && eventAngle <= 20) {
if (showedEvents.contains(v2XRoadEventEntity)) {
return null;
}
//Logger.d(TAG, "showed---");
showedEvents.add(v2XRoadEventEntity);
return v2XRoadEventEntity;
}
}
}
}
}
}
} catch (Exception e) {
e.printStackTrace();
Logger.w(TAG, "error: " + e.getMessage());
}
return null;
}
private static boolean isOutOfRange(double poi_lon, double poi_lat, double car_lon, double car_lat, double car_angle) {
return !isFrontOfCar(poi_lon, poi_lat, car_lon, car_lat, car_angle);
}
private static boolean isFrontOfCar(double poi_lon, double poi_lat, double car_lon, double car_lat, double car_angle) {
double degree = DrivingDirectionUtils.getDegreeOfCar2Poi(car_lon, car_lat, poi_lon, poi_lat, (int)car_angle);
return degree <= 90;
}
}

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core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/bridge/BridgeApi.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.bridge
import android.content.Context
import com.alibaba.android.arouter.launcher.ARouter
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.function.biz.v2x.v2n.consts.MoGoV2XServicePaths
import com.mogo.eagle.core.utilcode.util.Utils
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoPersonWarnPolylineManager
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoStopPolylineManager
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoV2XMarkerManager
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoWarnPolylineManager
import java.lang.ref.WeakReference
import java.util.concurrent.atomic.AtomicReference
internal object BridgeApi {
private val context by lazy {
AtomicReference<WeakReference<Context>>(null)
}
val location by lazy {
AtomicReference<MogoLocation>()
}
private val v2xMarker by lazy {
ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_MARKER_MANAGER).navigation(context()) as? IMoGoV2XMarkerManager
}
private val v2xWarnPolyline by lazy {
ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_WARN_POLYLINE_MANAGER).navigation(
context()
) as? IMoGoWarnPolylineManager
}
private val v2xPersonWarnPolyline by lazy {
ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_PERSON_WARN_POLYLINE_MANAGER).navigation(
context()
) as? IMoGoPersonWarnPolylineManager
}
private val v2xStopPolyline by lazy {
ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_STOP_POLYLINE_MANAGER).navigation(
context()
) as? IMoGoStopPolylineManager
}
fun init(context: Context) {
BridgeApi.context.set(WeakReference(context))
}
fun context(): Context = context.get()?.get() ?: Utils.getApp()
fun v2xMarker() = v2xMarker
fun v2xWarnPolyline() = v2xWarnPolyline
fun v2xPersonWarnPolyline() = v2xPersonWarnPolyline
fun v2xStopPolyline() = v2xStopPolyline
}

41
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/consts/MoGoV2XServicePaths.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.consts;
import androidx.annotation.Keep;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020/4/17 7:35 PM
* desc : 对外服务模块路径
* version: 1.0
* 使用方式：
* Arouter.getInstance().path("").navigate()
*/
@Keep
public class MoGoV2XServicePaths {
/**
* V2X 道路事件POI点
*/
@Keep
public static final String PATH_V2X_MARKER_MANAGER = "/v2xMarkerManager/api";
/**
* V2X 道路事件与车辆的连接线
*/
@Keep
public static final String PATH_V2X_WARN_POLYLINE_MANAGER = "/v2xWarnPolylineManager/api";
/**
* V2X 二轮车和行人连接线
*/
@Keep
public static final String PATH_V2X_PERSON_WARN_POLYLINE_MANAGER = "/v2xPersonWarnPolylineManager/api";
/**
* V2X 停止线连接线
*/
@Keep
public static final String PATH_V2X_STOP_POLYLINE_MANAGER = "/v2xStopPolylineManager/api";
}

25
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/consts/V2XConst.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.consts;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020-01-2114:10
* desc : V2X使用到的常量
* version: 1.0
*/
public class V2XConst {
/**
* V2X 场景广播 Action
*/
public static final String BROADCAST_SCENE_HANDLER_ACTION = "com.v2x.scene_handler_broadcast";
public static final String BROADCAST_SCENE_EXTRA_KEY = "V2XMessageEntity";
/**
* V2X预警日志tag
*/
public static final String LOG_NAME_WARN = "liyz";
}

27
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/manager/IMoGoPersonWarnPolylineManager.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.manager;
import android.content.Context;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.v2x.DrawLineInfo;
import com.mogo.map.overlay.IMogoPolyline;
/**
* 绘制可变宽度和渐变的线，
*/
public interface IMoGoPersonWarnPolylineManager extends IProvider {
/**
* 绘制连接线，人物和二轮车
*
* @param context
* @param info
*/
void drawPersonWarnPolyline(Context context, DrawLineInfo info);
/**
* 移除连接线
*/
void clearLine();
IMogoPolyline getMogoPersonWarnPolyline();
}

27
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/manager/IMoGoStopPolylineManager.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.manager;
import android.content.Context;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.v2x.DrawLineInfo;
import com.mogo.map.overlay.IMogoPolyline;
/**
* 绘制可变宽度和渐变的线
*/
public interface IMoGoStopPolylineManager extends IProvider {
/**
* 绘制连接线，目标车，与当前车辆间连线
*
* @param context
* @param info
*/
void drawStopPolyline(Context context, DrawLineInfo info);
/**
* 移除连接线
*/
void clearLine();
IMogoPolyline getMogoStopPolyline();
}

41
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/manager/IMoGoV2XMarkerManager.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.manager;
import android.content.Context;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.IMogoMarkerClickListener;
import com.mogo.eagle.core.data.v2x.V2XMarkerCardResult;
import java.util.concurrent.CopyOnWriteArrayList;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020/4/17 8:15 PM
* desc : V2X 涉及到的地图 POI 点的绘制
* version: 1.0
*/
public interface IMoGoV2XMarkerManager extends IProvider {
/**
* 获取所有的道路事件点，探路事件，返回结果是按照距离当前车辆从近到远排列好的
*
* @return 按从近到远排列好的道路事件
*/
CopyOnWriteArrayList<V2XRoadEventEntity> getV2XRoadEventEntityList();
/**
* 从探路数据和新鲜事儿的路况信息中解析出道路事件信息
*/
void analysisV2XRoadEvent(V2XMarkerCardResult markerCardResult);
/**
* 绘制正在预警的道路事件的POI点
* @param context
* @param roadEventEntity
* @return
*/
IMogoMarker drawableAlarmPOI(Context context, V2XRoadEventEntity roadEventEntity, IMogoMarkerClickListener clickListener);
}

27
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/manager/IMoGoWarnPolylineManager.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.manager;
import android.content.Context;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.v2x.DrawLineInfo;
import com.mogo.map.overlay.IMogoPolyline;
/**
* 绘制可变宽度和渐变的线
*/
public interface IMoGoWarnPolylineManager extends IProvider {
/**
* 绘制连接线，目标车，与当前车辆间连线
*
* @param context
* @param info
*/
void drawWarnPolyline(Context context, DrawLineInfo info);
/**
* 移除连接线
*/
void clearLine();
IMogoPolyline getMogoWarnPolyline();
}

87
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/manager/impl/MoGoPersonWarnPolylineManager.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.manager.impl;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.function.biz.v2x.v2n.consts.MoGoV2XServicePaths;
import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst;
import com.mogo.eagle.core.data.v2x.DrawLineInfo;
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoPersonWarnPolylineManager;
import com.mogo.map.overlay.IMogoOverlayManager;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.map.overlay.MogoPolylineOptions;
import java.util.ArrayList;
import java.util.List;
/**
* 绘制行人和二轮车连线
*/
@Route(path = MoGoV2XServicePaths.PATH_V2X_PERSON_WARN_POLYLINE_MANAGER)
public class MoGoPersonWarnPolylineManager implements IMoGoPersonWarnPolylineManager {
private static IMogoPolyline mMogoPolyline;
@Override
public void drawPersonWarnPolyline(Context context, DrawLineInfo info) {
if (info == null) {
return;
}
try {
if (mMogoPolyline != null) {
mMogoPolyline.remove();
}
// 连接线参数
MogoPolylineOptions options = new MogoPolylineOptions().setGps(true);
// 渐变色
List<Integer> colors = new ArrayList<>();
colors.add(0x0DE32F46);
colors.add(0xD9E32F46);
colors.add(0x0DE32F46);
// 线条粗细，渐变，渐变色值
CallerLogger.INSTANCE.d(M_V2X + V2XConst.LOG_NAME_WARN, "MoGoPersonWarnPolylineManager width = " + info.getWidth());
options.width(info.getWidth()).useGradient(true).colorValues(colors);
List<MogoLatLng> locations = info.getLocations();
for (int i = 0; i < locations.size(); i++) {
options.add(locations.get(i));
}
// 绘制线的对象
IMogoOverlayManager overlay = CallerMapUIServiceManager.INSTANCE.getOverlayManager();
if (overlay != null) {
mMogoPolyline = overlay.addPolyline(options);
mMogoPolyline.setTransparency(0.5f);
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void clearLine() {
if (mMogoPolyline != null) {
mMogoPolyline.remove();
mMogoPolyline = null;
}
}
@Override
public void init(Context context) {
}
/**
* @return 绘制连接线的对象
*/
@Override
public IMogoPolyline getMogoPersonWarnPolyline() {
return mMogoPolyline;
}
}

86
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/manager/impl/MoGoStopPolylineManager.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.manager.impl;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.function.biz.v2x.v2n.consts.MoGoV2XServicePaths;
import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst;
import com.mogo.eagle.core.data.v2x.DrawLineInfo;
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoStopPolylineManager;
import com.mogo.map.overlay.IMogoOverlayManager;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.map.overlay.MogoPolylineOptions;
import java.util.ArrayList;
import java.util.List;
/**
* 当前车辆与道路事件的连接线
*/
@Route(path = MoGoV2XServicePaths.PATH_V2X_STOP_POLYLINE_MANAGER)
public class MoGoStopPolylineManager implements IMoGoStopPolylineManager {
private static IMogoPolyline mMogoPolyline;
@Override
public void drawStopPolyline(Context context, DrawLineInfo info) {
if (info == null) {
return;
}
try {
if (mMogoPolyline != null) {
mMogoPolyline.remove();
}
// 连接线参数
MogoPolylineOptions options = new MogoPolylineOptions()
.setGps(true);
List<Integer> colors = new ArrayList<>();
colors.add(0x0DE32F46);
colors.add(0xD9E32F46);
colors.add(0x0DE32F46);
CallerLogger.INSTANCE.d(M_V2X + 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);
List<MogoLatLng> locations = info.getLocations();
for (int i = 0; i < locations.size(); i++) {
options.add(locations.get(i));
}
// 绘制线的对象
IMogoOverlayManager overlay = CallerMapUIServiceManager.INSTANCE.getOverlayManager();
if (overlay != null) {
mMogoPolyline = overlay.addPolyline(options);
}
if (mMogoPolyline != null) {
mMogoPolyline.setTransparency(0.5f);
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void clearLine() {
if (mMogoPolyline != null) {
mMogoPolyline.remove();
mMogoPolyline = null;
}
}
@Override
public void init(Context context) {
}
@Override
public IMogoPolyline getMogoStopPolyline() {
return mMogoPolyline;
}
}

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core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/manager/impl/MoGoV2XMarkerManager.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.manager.impl;
import static com.mogo.commons.module.ServiceConst.CARD_TYPE_NOVELTY;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
import com.mogo.eagle.core.data.map.MogoLatLng;
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.MarkerShowEntity;
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.function.biz.v2x.v2n.consts.MoGoV2XServicePaths;
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoV2XMarkerManager;
import com.mogo.eagle.function.biz.v2x.v2n.marker.V2XMarkerAdapter;
import com.mogo.eagle.function.biz.v2x.v2n.utils.MapUtils;
import com.mogo.eagle.core.data.v2x.V2XMarkerCardResult;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.IMogoMarkerClickListener;
import com.mogo.map.marker.MogoMarkerOptions;
import java.util.List;
import java.util.Objects;
import java.util.concurrent.CopyOnWriteArrayList;
import java.util.concurrent.CopyOnWriteArraySet;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020/4/17 9:57 PM
* desc : V2X 涉及到的地图 POI 点的绘制
* version: 1.0
*/
@Route(path = MoGoV2XServicePaths.PATH_V2X_MARKER_MANAGER)
public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
private static final String TAG = "MoGoV2XMarkerManager";
// 记录所有的：新鲜事儿的道路事件点、探路事件
private final CopyOnWriteArraySet<V2XRoadEventEntity> mV2XRoadEventEntityArrayList = new CopyOnWriteArraySet<>();
@Override
public void init(Context context) {}
@Override
public CopyOnWriteArrayList<V2XRoadEventEntity> getV2XRoadEventEntityList() {
CopyOnWriteArrayList<V2XRoadEventEntity> roadEventEntities = new CopyOnWriteArrayList<>();
// 当前车辆数据
MogoLocation currentLocation = CallerChassisLocationGCJ02ListenerManager.INSTANCE.getChassisLocationGCJ02();
if (currentLocation != null) {
// 重新计算距离
for (V2XRoadEventEntity v2XRoadEventEntity : mV2XRoadEventEntityArrayList) {
// 事件位置
MarkerLocation location = v2XRoadEventEntity.getLocation();
if (location != null) {
float calculateDistance = CoordinateUtils.calculateLineDistance(location.getLat(), location.getLon(),
currentLocation.getLatitude(), currentLocation.getLongitude());
v2XRoadEventEntity.setDistance(calculateDistance);
}
roadEventEntities.add(v2XRoadEventEntity);
}
// 按照与当前车辆距离排序
for (int i = 0; i < roadEventEntities.size(); i++) {
for (int j = i; j > 0; j--) {
if (roadEventEntities.get(j).getDistance() < roadEventEntities.get(j - 1).getDistance()) {
V2XRoadEventEntity v2XRoadEventEntity = roadEventEntities.get(j - 1);
roadEventEntities.set(j - 1, roadEventEntities.get(j));
roadEventEntities.set(j, v2XRoadEventEntity);
}
}
}
}
return roadEventEntities;
}
@Override
public void analysisV2XRoadEvent(V2XMarkerCardResult markerCardResult) {
try {
//当没有预警提示的时候重新绘制地图POI点
if (markerCardResult != null) {
// 清除上次的道路事件， 这里注意，道路事件的触发和这里是异步操作会触发异常
mV2XRoadEventEntityArrayList.clear();
// 获取探路以及新鲜事儿
List<MarkerExploreWay> exploreWayList = markerCardResult.getExploreWay();
if (exploreWayList != null) {
for (MarkerExploreWay markerExploreWay : exploreWayList) {
if (EventTypeEnumNew.isRoadEvent(markerExploreWay.getPoiType())) {
MarkerLocation markerLocation = markerExploreWay.getLocation();
// 记录道路事件
V2XRoadEventEntity v2XRoadEventEntity = new V2XRoadEventEntity();
v2XRoadEventEntity.setLocation(markerLocation);
// 探路目前只有上报拥堵
String poi = markerExploreWay.getPoiType();
v2XRoadEventEntity.setPoiType(poi);
v2XRoadEventEntity.setNoveltyInfo(markerExploreWay);
v2XRoadEventEntity.setExpireTime(20000);
mV2XRoadEventEntityArrayList.add(v2XRoadEventEntity);
}
}
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public IMogoMarker drawableAlarmPOI(Context context, V2XRoadEventEntity roadEventEntity, IMogoMarkerClickListener clickListener) {
try {
// 清除原来的大而全的新鲜事儿
if (roadEventEntity.getLocation() != null) {
// 道路事件，或者水波纹扩散效果
MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
.data(roadEventEntity)
.latitude(roadEventEntity.getLocation().getLat())
.longitude(roadEventEntity.getLocation().getLon());
optionsRipple.anchor(0.5f, 0.5f);
MarkerShowEntity markerShowEntity = new MarkerShowEntity();
MarkerExploreWay markerExploreWay = roadEventEntity.getNoveltyInfo();
markerShowEntity.setBindObj(markerExploreWay);
markerShowEntity.setChecked(false);
markerShowEntity.setTextContent(markerExploreWay.getAddr());
markerShowEntity.setMarkerLocation(markerExploreWay.getLocation());
markerShowEntity.setMarkerType(CARD_TYPE_NOVELTY);
optionsRipple.icons(V2XMarkerAdapter.getV2XRoadEventViewGif(context, roadEventEntity));
optionsRipple.period(1);
IMogoMarker ret = Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMarkerService()).drawMarker(markerShowEntity);
// 当前Marker设置为最上面
if (ret != null) {
ret.setToTop();
}
// 缩放地图
MapUtils.zoomMap(
new MogoLatLng(roadEventEntity.getLocation().getLat(),
roadEventEntity.getLocation().getLon()
), context);
return ret;
} else {
CallerLogger.INSTANCE.e(M_V2X + TAG, "Location 必须进行初始化！！！！！");
}
} catch (Exception e) {
e.printStackTrace();
}
return null;
}
}

99
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/manager/impl/MoGoWarnPolylineManager.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.manager.impl;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.function.biz.v2x.v2n.consts.MoGoV2XServicePaths;
import com.mogo.eagle.core.data.v2x.DrawLineInfo;
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoWarnPolylineManager;
import com.mogo.map.overlay.IMogoOverlayManager;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.map.overlay.MogoPolylineOptions;
import java.util.ArrayList;
import java.util.List;
/**
* 当前车辆与道路事件的连接线
*/
@Route(path = MoGoV2XServicePaths.PATH_V2X_WARN_POLYLINE_MANAGER)
public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
private static IMogoPolyline mMogoPolyline;
private static final String TAG = "V2XWarningMarker";
@Override
public void drawWarnPolyline(Context context, DrawLineInfo info) {
if (info == null) {
return;
}
try {
if (mMogoPolyline != null) {
mMogoPolyline.remove();
}
// 连接线参数
MogoPolylineOptions options = new MogoPolylineOptions()
.setGps(true);
List<Integer> colors = new ArrayList<>();
if (info.isHasStopLines()) {
colors.add(0x0D3036FF);
colors.add(0xD93036FF);
colors.add(0x0D3036FF);
} else {
colors.add(0x0DE32F46);
colors.add(0xD9E32F46);
colors.add(0x0DE32F46);
}
CallerLogger.INSTANCE.d(M_V2X + TAG, "MoGoWarnPolylineManager roadWidth = " + info.getWidth());
// 线条粗细，渐变，渐变色值
options.width(info.getWidth() == 0.0 ? 60 : info.getWidth()).useGradient(true).colorValues(colors);
List<MogoLatLng> locations = info.getLocations();
for (int i = 0; i < locations.size(); i++) {
options.add(locations.get(i));
}
// 绘制线的对象
IMogoOverlayManager overlay = CallerMapUIServiceManager.INSTANCE.getOverlayManager();
if (overlay != null) {
mMogoPolyline = overlay.addPolyline(options);
}
if (mMogoPolyline != null) {
mMogoPolyline.setTransparency(0.5f);
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void clearLine() {
if (mMogoPolyline != null) {
mMogoPolyline.remove();
mMogoPolyline = null;
} else {
CallerLogger.INSTANCE.d(M_V2X + TAG, "mMogoPolyline==null");
}
}
@Override
public void init(Context context) {
}
/**
* @return 绘制连接线的对象
*/
@Override
public IMogoPolyline getMogoWarnPolyline() {
return mMogoPolyline;
}
}

135
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/marker/V2XMarkerAdapter.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.marker;
import android.content.Context;
import android.graphics.Bitmap;
import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity;
import com.mogo.eagle.core.function.v2x.R;
import com.mogo.eagle.function.biz.v2x.v2n.view.V2XMarkerRoadEventView;
import java.util.ArrayList;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020-01-1015:55
* desc : V2X 地图气泡
* version: 1.0
*/
public class V2XMarkerAdapter {
/**
* 返回道路事件
*/
public static Bitmap getV2XRoadEventMarkerView(Context context, V2XRoadEventEntity alarmInfo, int imageRes) {
return new V2XMarkerRoadEventView(context, alarmInfo).setBackground(imageRes).getView();
}
/**
* 返回道路事件gif序列图集合
*/
public static ArrayList<Bitmap> getV2XRoadEventViewGif(Context context, V2XRoadEventEntity alarmInfo) {
ArrayList<Bitmap> bitmapArrayList;
if (EventTypeEnumNew.ALERT_TRAFFIC_LIGHT_SUGGEST.getPoiType().equals(alarmInfo.getPoiType())
|| EventTypeEnumNew.ALERT_TRAFFIC_LIGHT_WARNING.getPoiType().equals(alarmInfo.getPoiType())
|| EventTypeEnumNew.FOURS_BLOCK_UP.getPoiType().equals(alarmInfo.getPoiType())
|| EventTypeEnumNew.ALERT_CAR_TROUBLE_WARNING.getPoiType().equals(alarmInfo.getPoiType())) {
bitmapArrayList = getV2XRoadEventOrangeMarkerView(context, alarmInfo);
} else {
bitmapArrayList = getV2XRoadEventRedMarkerView(context, alarmInfo);
}
return bitmapArrayList;
}
/**
* 返回红色扩散效果的序列
*/
public static ArrayList<Bitmap> getV2XRoadEventRedMarkerView(Context context, V2XRoadEventEntity alarmInfo) {
ArrayList<Bitmap> icons = new ArrayList<>();
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00011));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00012));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00013));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00014));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00015));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00016));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00017));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00018));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00019));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00020));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00021));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00022));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00023));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00024));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00025));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00026));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00027));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00028));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00029));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00030));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00031));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00032));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00033));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00034));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00035));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00036));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00037));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00038));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00039));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00040));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00041));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00042));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00043));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00044));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00045));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00046));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00047));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_red_00048));
return icons;
}
/**
* 返回橘色色扩散效果的序列
*/
public static ArrayList<Bitmap> getV2XRoadEventOrangeMarkerView(Context context, V2XRoadEventEntity alarmInfo) {
ArrayList<Bitmap> icons = new ArrayList<>();
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00011));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00012));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00013));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00014));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00015));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00016));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00017));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00018));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00019));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00020));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00021));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00022));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00023));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00024));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00025));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00026));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00027));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00028));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00029));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00030));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00031));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00032));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00033));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00034));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00035));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00036));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00037));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00038));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00039));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00040));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00041));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00042));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00043));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00044));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00045));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00046));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00047));
icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00048));
return icons;
}
}

118
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/network/V2XRefreshModel.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.network
import com.elegant.network.utils.GsonUtil
import com.elegant.network.utils.SignUtil
import com.elegant.utils.CommonUtils
import com.mogo.cloud.network.RetrofitFactory
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.AbsMogoApplication
import com.mogo.commons.constants.HostConst
import com.mogo.commons.network.ParamsUtil
import com.mogo.eagle.core.data.v2x.V2XEventData
import com.mogo.eagle.core.data.v2x.V2XLocation
import com.mogo.eagle.core.data.v2x.V2XMarkerResponse
import com.mogo.eagle.function.biz.v2x.v2n.network.api.V2XApiService
import com.mogo.eagle.function.biz.v2x.v2n.network.body.V2XRefreshEntity
import com.mogo.eagle.function.biz.v2x.v2n.network.callback.IV2XRefreshCallback
import com.mogo.eagle.core.network.MoGoRetrofitFactory
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.DeviceUtils
import io.reactivex.android.schedulers.AndroidSchedulers
import io.reactivex.disposables.Disposable
import io.reactivex.schedulers.Schedulers
internal class V2XRefreshModel {
companion object {
private const val TAG = "V2XRefreshModel"
fun querySnapshot(
longitude: Double,
latitude: Double,
callback: IV2XRefreshCallback<V2XMarkerResponse>?
): Disposable? {
val retrofit = RetrofitFactory.getInstance(HostConst.getEagleHost()) ?: return null
return retrofit
.create(V2XApiService::class.java)
.querySnapshotSync(buildParams(longitude, latitude))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe({ data ->
if (data == null) {
callback?.onFail("returned data is null.")
return@subscribe
}
if (data.code != 0 && data.code != 200) {
callback?.onFail("code:${data.code}, msg: ${data.msg}")
} else {
callback?.onSuccess(data)
}
}, {
callback?.onFail(it.message)
})
}
private fun buildParams(
longitude: Double,
latitude: Double,
): Map<String, Any> = mutableMapOf<String, Any>().apply {
putAll(ParamsUtil.getStaticParams().let {
val handled = mutableMapOf<String, Any>()
it.asIterable().forEach { itx ->
val value = itx.value
if (value != null) {
handled[itx.key] = value
}
}
handled
})
this["netType"] = CommonUtils.getNetworkType(AbsMogoApplication.getApp())
this["cellId"] = DeviceUtils.getCellId() ?: ""
this["sn"] = MoGoAiCloudClientConfig.getInstance().sn
this["ticket"] = MoGoAiCloudClientConfig.getInstance().token
this["sig"] = SignUtil.createSign(this, "JGjZx6")
this["data"] = GsonUtil.jsonFromObject(V2XRefreshEntity().apply {
limit = 999
location = V2XLocation().also {
it.lat = latitude
it.lon = longitude
}
radius = 1000
dataType.add("CARD_TYPE_ROAD_CONDITION")
viewPush = true
})
}
private var v2xEventDisposable: Disposable? = null
fun roadEventDispose(){
if (v2xEventDisposable != null && !v2xEventDisposable!!.isDisposed) {
v2xEventDisposable!!.dispose()
}
}
fun getRoadEvents(lineId: String, sn: String, onSuccess:((List<V2XEventData>?) -> Unit)){
v2xEventDisposable = MoGoRetrofitFactory.getInstance(HostConst.getHost())
.create(V2XApiService::class.java)
.queryAllV2XEventsByLineId(lineId, sn)
.map {
if (it.code == 200 || it.code == 0) {
CallerLogger.d(SceneConstant.M_V2X + TAG, "请求成功，size为：${it.result?.v2XEventList?.size}")
return@map it.result?.v2XEventList
} else {
CallerLogger.d(SceneConstant.M_V2X + TAG, "请求失败，code为：${it.code}")
return@map ArrayList()
}
}
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe {
onSuccess.invoke(it)
}
}
}
}

18
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/network/api/V2XApiService.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.network.api
import com.mogo.eagle.core.data.v2x.V2XEventResult
import com.mogo.eagle.core.data.v2x.V2XMarkerResponse
import io.reactivex.Maybe
import io.reactivex.Observable
import retrofit2.http.*
internal interface V2XApiService {
@FormUrlEncoded
@POST("eagle-eye-dns/yycp-launcherSnapshot/launcherSnapshot/querySnapshotSync")
fun querySnapshotSync(@FieldMap parameters: Map<String, @JvmSuppressWildcards Any>): Maybe<V2XMarkerResponse?>
@GET("/eagleEye-mis/config/queryV2NInformation")
fun queryAllV2XEventsByLineId(@Query("lineId") lineId: String, @Query("sn") sn: String): Observable<V2XEventResult>
}

39
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/network/body/V2XRefreshEntity.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.network.body
import androidx.annotation.Keep
import com.mogo.eagle.core.data.v2x.V2XLocation
/**
* 刷新地图信息接口
*/
@Keep
internal class V2XRefreshEntity {
@JvmField
var dataType: MutableList<String> = mutableListOf() // 要查询的类型
@JvmField
var limit = 50 // 请求数量
@JvmField
var radius = 2000 // 地理围栏半径（米）
@JvmField
var location // 坐标
: V2XLocation? = null
@JvmField
var sn: String? = null
@JvmField
var onlyFocus // 是否仅查询已关注的好友
= false
@JvmField
var onlySameCity // 是否仅查询注册城市相同的同城用户
= false
@JvmField
var viewPush // 是否走V2X通道 ，true-401011，false -401001
= false
@JvmField
var onlyRealUser = false
}

24
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/network/callback/IV2XCallback.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.network.callback
import com.mogo.eagle.core.data.v2x.V2XEvent
interface IV2XCallback {
/**
* 获取到V2X事件成功回调
* @param event
* - 参数说明：目前此参数支持以下类型
* - [V2XEvent.ForwardsWarning]: 路口碰撞预警、盲区预警等预警事件, 数据实体取自[V2XEvent.ForwardsWarning.data]
* - [V2XEvent.Road]: 道路事件, 数据实体取自[V2XEvent.Road.data]
* - [V2XEvent.Warning]: 预警目标物事件, 数据实体取自[V2XEvent.Warning.data]
* - [V2XEvent.Marker]: 道路标记事件, 数据实体取自[V2XEvent.Marker.data]
*/
fun onAck(event: V2XEvent)
/**
* V2X事件获取过程中，出现的异常信息，用于问题排查
* @param msg 异常信息
*/
fun onFail(msg: String)
}

11
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/network/callback/IV2XRefreshCallback.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.network.callback
/**
* 刷新回调
*/
internal interface IV2XRefreshCallback<T> {
fun onSuccess(result: T)
fun onFail(msg: String?)
}

35
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/receiver/SceneBroadcastReceiver.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.receiver
import android.content.BroadcastReceiver
import android.content.Context
import android.content.Intent
import android.content.IntentFilter
import androidx.localbroadcastmanager.content.LocalBroadcastManager
import com.mogo.eagle.core.data.map.entity.V2XMessageEntity
import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst
import com.mogo.eagle.function.biz.v2x.v2n.scenario.impl.V2XScenarioManager
class SceneBroadcastReceiver : BroadcastReceiver() {
companion object {
fun register(context: Context) {
val localReceiver = SceneBroadcastReceiver()
val localBroadcastManager = LocalBroadcastManager.getInstance(context)
val intentFilter = IntentFilter()
intentFilter.addAction(V2XConst.BROADCAST_SCENE_HANDLER_ACTION)
localBroadcastManager.registerReceiver(localReceiver, intentFilter)
}
}
override fun onReceive(context: Context?, intent: Intent?) {
try {
val v2XMessageEntity =
intent?.getSerializableExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY) as? V2XMessageEntity<*>
v2XMessageEntity?.let {
V2XScenarioManager.getInstance().handlerMessage(it)
}
} catch (e: Exception) {
e.printStackTrace()
}
}
}

198
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/remove/MarkerRemoveManager.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.remove
import android.os.Handler
import android.os.HandlerThread
import android.util.Log
import com.mogo.cloud.commons.utils.CoordinateUtils
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
import com.mogo.map.marker.IMogoMarker
import com.mogo.map.overlay.IMogoPolyline
import kotlinx.coroutines.Runnable
import java.util.*
import java.util.concurrent.ConcurrentHashMap
import java.util.concurrent.atomic.AtomicBoolean
import java.util.concurrent.atomic.AtomicReference
data class MarkerWrapper(val id: String, val lon: Double, val lat: Double, val coordinateType: Int, var markers: ArrayList<IMogoMarker>? = null, var lines: ArrayList<IMogoPolyline>? = null) {
fun addLine(line: IMogoPolyline) {
var ll = this.lines
if (ll == null) {
ll = ArrayList()
this.lines = ll
}
ll.add(line)
}
fun addMarker(marker: IMogoMarker) {
var mm = this.markers
if (mm == null) {
mm = ArrayList()
this.markers = mm
}
mm.add(marker)
}
override fun equals(other: Any?): Boolean {
if (this === other) return true
if (javaClass != other?.javaClass) return false
other as MarkerWrapper
if (id != other.id) return false
return true
}
override fun hashCode(): Int {
return id.hashCode()
}
}
object MarkerRemoveManager {
private const val TAG = "MarkerManager"
private val showedMarkers by lazy { LinkedList<MarkerWrapper>() }
private val toRemoveMakers by lazy { LinkedList<MarkerWrapper>() }
private val isFirstAdd by lazy { AtomicBoolean(false) }
private val elapsedDistances by lazy { ConcurrentHashMap<MarkerWrapper, Double>() }
private val lastCarLocation by lazy { AtomicReference<Pair<Double, Double>>() }
private val lastGpsLocation by lazy { AtomicReference<Pair<Double, Double>>() }
private val checkTask = object : Runnable {
override fun run() {
try {
Log.d(TAG, "--- checkTask --- 1 ---")
if (lastCarLocation.get() == null) {
return
}
Log.d(TAG, "--- checkTask --- 2 ---")
if (lastGpsLocation.get() == null) {
return
}
Log.d(TAG, "--- checkTask --- 3 ---")
val toRemove = toRemoveMakers.iterator()
val carLoc = AtomicReference<MogoLocation>()
while (toRemove.hasNext()) {
val marker = toRemove.next()
if (carLoc.get() == null) {
carLoc.set(if (marker.coordinateType == 0) {
//高德坐标
CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
} else {
//高精坐标
CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
})
}
val currentLocation = carLoc.get()
val lastLocation = if (marker.coordinateType == 0) lastCarLocation.get() else lastGpsLocation.get()
if (currentLocation != null && lastLocation != null) {
val delta = CoordinateUtils.calculateLineDistance(currentLocation.longitude, currentLocation.latitude, lastLocation.first, lastLocation.second)
Log.d(TAG, "--- checkTask --- 4 ---:delta:$delta, id:${marker.id}")
var elapsed = elapsedDistances[marker]
if (elapsed == null) {
elapsed = delta.toDouble()
} else {
elapsed += delta
}
Log.d(TAG, "--- checkTask --- 5 ---:delta:$delta, elapsed:${elapsed}, id: ${marker.id}")
if (elapsed >= 200) {
var removeMarkerError = false
marker.markers?.forEach {
try {
Log.e(TAG, "--- checkTask --- remove marker: $it, id: ${marker.id}")
it.setVisible(false)
it.destroy()
} catch (t: Throwable) {
t.printStackTrace()
removeMarkerError = true
Log.e(TAG, "--- checkTask --- remove marker error:${t.message}, id: ${marker.id}")
}
}
var removeLineError = false
marker.lines?.forEach {
try {
it.isVisible = false
Log.e(TAG, "--- checkTask --- remove line : $it, id:${marker.id}")
it.destroy()
} catch (t: Throwable) {
t.printStackTrace()
removeLineError = true
Log.e(TAG, "--- checkTask --- remove line error:${t.message}, id: ${marker.id}")
}
}
if (!removeLineError && !removeMarkerError) {
toRemove.remove()
synchronized(elapsedDistances) {
elapsedDistances.remove(marker)
}
}
} else {
elapsedDistances[marker] = elapsed
}
}
}
val iterator = showedMarkers.iterator()
while (iterator.hasNext()) {
val marker = iterator.next()
if (carLoc.get() == null) {
carLoc.set(if (marker.coordinateType == 0) {
//高德坐标
CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
} else {
//高精坐标
CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
})
}
val location = carLoc.get()
if (location != null) {
val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(location.longitude, location.latitude, marker.lon, marker.lat, location.heading)
if (angle >= 90) {
iterator.remove()
synchronized(toRemoveMakers) {
toRemoveMakers.offer(marker)
}
}
}
}
} catch (t: Throwable) {
t.printStackTrace()
} finally {
val gcInfo = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
lastCarLocation.set((gcInfo?.longitude ?: 0.0) to (gcInfo?.latitude ?: 0.0))
val wgsInfo = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
lastGpsLocation.set((wgsInfo?.longitude ?: 0.0) to (wgsInfo?.latitude ?: 0.0))
handler.postDelayed(this, 1000)
}
}
}
private val handler by lazy {
val thread = HandlerThread("check_marker_expired")
thread.start()
Handler(thread.looper)
}
fun addMarker(marker: MarkerWrapper) {
Log.d(TAG, "=== addMarker ====: $marker")
synchronized(showedMarkers) {
showedMarkers.offer(marker)
}
if (isFirstAdd.compareAndSet(false,true)) {
handler.postDelayed(checkTask, 1000)
}
}
}

41
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/IV2XScenario.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario;
import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020/5/15 4:13 PM
* desc : V2X安全驾驶场景接口
* version: 1.0
*/
public interface IV2XScenario {
/**
* 展示场景
*/
void show();
/**
* 关闭场景
*/
void close();
/**
* 绘制POI
*/
void drawPOI();
/**
* 清除POI
*/
void clearPOI();
/**
* 是否是相同的场景，如果是说明重复的场景，需要根据场景进行不同的处理
*
* @param v2XMessageEntity 要比较的场景
* @return true-相同的场景，false-不同场景
*/
boolean isSameScenario(V2XMessageEntity v2XMessageEntity);
}

15
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/IV2XScenarioManager.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario;
import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020/5/15 3:47 PM
* desc : V2X安全驾驶场景管理
* version: 1.0
*/
public interface IV2XScenarioManager {
void handlerMessage(V2XMessageEntity v2XMessageEntity);
}

66
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/impl/AbsV2XScenario.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario.impl;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.IV2XScenario;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.view.IV2XMarker;
import java.util.concurrent.atomic.AtomicReference;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020/5/15 5:01 PM
* desc :
* version: 1.0
*/
public abstract class AbsV2XScenario<T> implements IV2XScenario {
protected String TAG = "AbsV2XScenario";
private IV2XMarker mV2XMarker;
private final AtomicReference<V2XMessageEntity> mV2XMessageEntity = new AtomicReference<>();
protected AbsV2XScenario() {
}
public abstract void init(@Nullable V2XMessageEntity<T> v2XMessageEntity);
@Override
public void close() {
// clearPOI();
}
/**
* 释放资源
*/
public void release() {
mV2XMessageEntity.set(null);
mV2XMarker = null;
}
public IV2XMarker getV2XMarker() {
return mV2XMarker;
}
public void setV2XMarker(@Nullable IV2XMarker mV2XMarker) {
this.mV2XMarker = mV2XMarker;
}
public void setV2XMessageEntity(@Nullable V2XMessageEntity<T> mV2XMessageEntity) {
this.mV2XMessageEntity.set(mV2XMessageEntity);
}
public V2XMessageEntity<T> getV2XMessageEntity() {
return mV2XMessageEntity.get();
}
@Override
public boolean isSameScenario(@Nullable V2XMessageEntity v2XMessageEntity) {
V2XMessageEntity old = mV2XMessageEntity.get();
if (old == null) {
return false;
}
return old.equals(v2XMessageEntity);
}
}

101
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/impl/V2XScenarioManager.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario.impl;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
import androidx.localbroadcastmanager.content.LocalBroadcastManager;
import com.mogo.commons.module.status.MogoStatusManager;
import com.mogo.eagle.core.data.config.HmiBuildConfig;
import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.IV2XScenarioManager;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road.V2XRoadEventScenario;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.warning.V2XFrontWarningScenario;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.map.uicontroller.VisualAngleMode;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020/5/15 4:22 PM
* desc : 场景管理的分发
* version: 1.0
*/
public class V2XScenarioManager implements IV2XScenarioManager {
private static V2XScenarioManager mV2XScenarioManager;
private static final String TAG = "V2XScenarioManager";
private AbsV2XScenario mV2XScenario = null;
private V2XScenarioManager() {
}
public static V2XScenarioManager getInstance() {
if (mV2XScenarioManager == null) {
synchronized (V2XScenarioManager.class) {
if (mV2XScenarioManager == null) {
mV2XScenarioManager = new V2XScenarioManager();
}
}
}
return mV2XScenarioManager;
}
@Override
public void handlerMessage(V2XMessageEntity v2XMessageEntity) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "处理V2X场景：" + (v2XMessageEntity == null ? "null" : v2XMessageEntity.toString()));
try {
synchronized (V2XScenarioManager.class) {
// 展示
ThreadUtils.runOnUiThread(() -> {
// 提取之前存储的场景
if (v2XMessageEntity != null) {
// 如果没有拿到之前的，根据类型分发
switch (v2XMessageEntity.getType()) {
case V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING:
mV2XScenario = new V2XRoadEventScenario();
break;
case V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_WEAKNESS:
if (HmiBuildConfig.isShowCloudWeaknessTrafficView) { //默认关闭云端弱势交通
sceneChange();
if (MogoStatusManager.getInstance().isVrMode()) {
mV2XScenario = new V2XFrontWarningScenario();
} else {
mV2XScenario = null;
}
}
break;
default:
mV2XScenario = null;
CallerLogger.INSTANCE.e(M_V2X + TAG, "当前V2X消息类型未定义:" + v2XMessageEntity);
return;
}
// 展示最新的消息
if (mV2XScenario != null) {
mV2XScenario.init(v2XMessageEntity);
}
}
});
}
} catch (Exception e) {
e.printStackTrace();
}
}
/**
* http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=52833468
* 道路事件触发后,切换到中景
*/
private void sceneChange() {
IMogoMapUIController mapUiController = CallerMapUIServiceManager.INSTANCE.getMapUIController();
if (mapUiController != null && mapUiController.getCurrentMapVisualAngle() != VisualAngleMode.MODE_MEDIUM_SIGHT) {
mapUiController.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
}
}
}

220
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad
import android.animation.ArgbEvaluator
import android.graphics.Color
import android.os.Handler
import android.os.Looper
import android.view.animation.DecelerateInterpolator
import androidx.core.util.Pair
import com.mogo.cloud.commons.utils.*
import com.mogo.eagle.core.data.map.MogoLatLng
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
import com.mogo.eagle.core.function.call.autopilot.*
import com.mogo.eagle.core.function.call.map.*
import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road.V2XAiRoadEventMarker
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
import com.mogo.map.MogoMap
import com.mogo.map.overlay.IMogoPolyline
import com.mogo.map.overlay.MogoPolylineOptions
import java.util.*
import java.util.concurrent.atomic.AtomicReference
import java.util.concurrent.ConcurrentHashMap
import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerRemoveManager
import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
/**
* Ai云道路施工事件，道路颜色标记类
*/
class AiRoadMarker {
companion object {
@JvmField
val aiMakers = ConcurrentHashMap<String, AiRoadMarker>()
}
private val TAG = "AiRoadMarker"
private val marker by lazy { AtomicReference<Marker>() }
private val overlayManager by lazy {
CallerMapUIServiceManager.getOverlayManager()
}
private val START_COLOR = Color.parseColor("#002ABAD9")
private val END_COLOR = Color.parseColor("#66FF7A30")
private val roadMarker by lazy { V2XAiRoadEventMarker() }
private val line = AtomicReference<IMogoPolyline>()
private val handler by lazy {
Handler(Looper.getMainLooper())
}
private val checkExpiredTask = Runnable {
val poi = this.marker.get()
val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
if (poi != null && car != null) {
val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
if (distance < 500) {
unMarker(poi)
}
}
}
private val options by lazy {
MogoPolylineOptions().apply {
zIndex(40000f)
setGps(true)
width(50f)
useGradient(true)
}
}
fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false) {
val location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() ?: return
this.marker.set(marker)
val wrapper = MarkerWrapper(marker.id, marker.poi_lon, marker.poi_lat, 1, null, null)
if (drawMarker) {
marker.entity?.apply { roadMarker.drawMarkers(this, wrapper) }
}
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.heading.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.heading.toFloat(), -300f)
if (l1.points.isEmpty() || l2.points.isEmpty()) {
Logger.d(TAG, "--- marker --- 3 --- return ----")
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.heading)
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.heading + 180)) < 90L) {
points.add(l.let { MogoLatLng(it.second, it.first) })
}
}
}
if (points.size <= 1) {
return
}
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: ${points.size}")
if (line == null || line.isDestroyed) {
val l = overlayManager?.addPolyline(options)
this.line.set(l)
line = l
} else {
line.setOption(options)
}
if (!line.isVisible) {
line.isVisible = true
}
if (line != null) {
wrapper.addLine(line)
}
}
MarkerRemoveManager.addMarker(wrapper)
}
private fun removeLine() {
val old = line.get()
Logger.d(TAG, "--- removeRedLine --- 1 ---")
if (old != null) {
Logger.d(TAG, "--- removeRedLine --- 2 ---")
line.set(null)
old.isVisible = false
old.remove()
}
}
private fun unMarker(marker: Marker) {
Logger.d(TAG, "--- unMarker ---")
this.marker.set(null)
removeLine()
roadMarker.removeMarkers()
handler.removeCallbacks(checkExpiredTask)
}
fun receive() {
Logger.d(TAG, "receive --- 1 ---")
val poi = this.marker.get()
val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
if (poi != null && car != null) {
val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
Logger.d(TAG, "receive --- 2 ---:car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance")
if (distance < 500) {
checkExpired()
} else {
handler.removeCallbacks(checkExpiredTask)
}
} else {
if (poi != null) {
checkExpired()
}
}
}
private fun checkExpired() {
handler.removeCallbacks(checkExpiredTask)
handler.postDelayed(checkExpiredTask, 10000)
}
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>>? = null,
var farthestPoint: Pair<Double, Double>? = null,
var entity: V2XRoadEventEntity? = null
) {
override fun equals(other: Any?): Boolean {
if (this === other) return true
if (javaClass != other?.javaClass) return false
other as Marker
if (id != other.id) return false
return true
}
override fun hashCode(): Int {
return id.hashCode()
}
}
}

76
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XAiRoadEventMarker.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road
import android.graphics.Color
import com.mogo.eagle.core.data.enums.EventTypeEnumNew
import com.mogo.eagle.core.data.map.MogoLatLng
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.function.biz.v2x.v2n.bridge.BridgeApi.context
import com.mogo.eagle.function.biz.v2x.v2n.bridge.BridgeApi.v2xMarker
import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
import com.mogo.map.marker.IMogoMarker
import com.mogo.map.overlay.IMogoPolyline
import com.mogo.map.overlay.MogoPolylineOptions
import java.util.concurrent.atomic.AtomicReference
class V2XAiRoadEventMarker {
private val current = AtomicReference<Pair<IMogoPolyline?, List<IMogoMarker>?>>()
private val overlayManager by lazy { CallerMapUIServiceManager.getOverlayManager() }
fun drawMarkers(entity: V2XRoadEventEntity, wrapper: MarkerWrapper) {
val polygon = entity.noveltyInfo.polygon
v2xMarker()?.drawableAlarmPOI(context(), entity, null)?.also {
wrapper.addMarker(it)
}
if (polygon != null && polygon.isNotEmpty() && entity.poiType != EventTypeEnumNew.TYPE_SOCKET_ROAD_JINGZHI.poiType) {
val options = MogoPolylineOptions()
val colors = ArrayList<Int>()
colors.add(Color.argb(204, 237, 172, 21))
colors.add(Color.argb(0, 255, 255, 255))
options.colorValues(colors)
val points = ArrayList<MogoLatLng>()
for (p in polygon) {
points.add(MogoLatLng(p.first, p.second))
}
if (points.size > 2) {
points.add(points[0])
}
options.points(points)
options.useGradient(true)
options.useFacade(true)
options.setGps(true)
options.width(5f)
options.zIndex(75000f)
options.maxIndex(800000f)
val line = overlayManager?.addPolyline(options)
line?.let {
current.set(Pair(line, wrapper.markers))
line.isVisible = true
wrapper.addLine(line)
}
}
}
fun removeMarkers() {
val prev = current.get()
if (prev != null) {
realRemove(prev)
}
}
private fun realRemove(pair: Pair<IMogoPolyline?, List<IMogoMarker>?>) {
val line = pair.first
if (line != null && line.isVisible) {
line.remove()
}
val markers = pair.second
if (markers != null && markers.isNotEmpty()) {
for (m in markers) {
m.remove()
}
}
}
}

77
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventMarker.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road;
import android.util.Log;
import androidx.core.util.Pair;
import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
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.V2XRoadEventEntity;
import com.mogo.eagle.function.biz.v2x.v2n.bridge.BridgeApi;
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoV2XMarkerManager;
import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper;
import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerRemoveManager;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.AiRoadMarker;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.view.IV2XMarker;
import com.mogo.map.marker.IMogoMarker;
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
/**
* 道路V2X事件的Marker
*/
public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
@Override
public void drawPOI(V2XRoadEventEntity entity) {
try {
// 清除道路事件
IMoGoV2XMarkerManager marker = BridgeApi.INSTANCE.v2xMarker();
if (marker != null) {
if (entity != null) {
Log.d("RWJ", "V2XRoadEventMarker:" + entity.getPoiType());
if (isAiRoadEvent(entity.getPoiType())) {
MarkerExploreWay noveltyInfo = entity.getNoveltyInfo();
Log.d("RWJ", "V2XRoadEventMarker -> noveltyInfo:" + noveltyInfo);
if (noveltyInfo != null) {
Pair<Double, Double> gpsLocation = noveltyInfo.getGpsLocation();
List<Pair<Double, Double>> polygons = noveltyInfo.getPolygon();
if (gpsLocation != null && polygons != null) {
MarkerLocation location = noveltyInfo.getLocation();
AiRoadMarker.Marker m = new AiRoadMarker.Marker(noveltyInfo.getInfoId(), noveltyInfo.getPoiType(), gpsLocation.second, gpsLocation.first, location.getAngle(), polygons, null, entity);
AiRoadMarker aiMarker = new AiRoadMarker();
aiMarker.marker(m, true, isDrawRoadLine(m.getPoiType()));
AiRoadMarker.aiMakers.put(noveltyInfo.getInfoId(), aiMarker);
}
}
} else {
IMogoMarker iMarker = marker.drawableAlarmPOI(BridgeApi.INSTANCE.context(), entity, null);
if (iMarker != null) {
Log.d("RWJ", "V2XRoadEventMarker:" + entity.getPoiType() + "--- add Marker");
ArrayList<IMogoMarker> markers = new ArrayList<>();
markers.add(iMarker);
String id = entity.getLocation().getLon() + "_" + entity.getLocation().getLat();
MarkerRemoveManager.INSTANCE.addMarker(new MarkerWrapper(id, entity.getLocation().getLon(), entity.getLocation().getLat(), 0, markers, null));
} else {
Log.d("RWJ", "V2XRoadEventMarker:" + entity.getPoiType() + "--- return empty marker");
}
}
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
private boolean isAiRoadEvent(String poiType) {
return Objects.equals(poiType, EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.getPoiType())
&& Objects.equals(poiType, EventTypeEnumNew.FOURS_ACCIDENT_04.getPoiType())
&& Objects.equals(poiType, EventTypeEnumNew.TYPE_SOCKET_ROAD_JINGZHI.getPoiType())
&& Objects.equals(poiType, EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGU.getPoiType());
}
private boolean isDrawRoadLine(String poiType) {
return EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.getPoiType().equals(poiType);
}
}

186
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventScenario.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
import com.mogo.eagle.core.data.enums.WarningDirectionEnum;
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;
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.api.map.angle.Default;
import com.mogo.eagle.core.function.api.map.angle.RoadEvent;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.impl.AbsV2XScenario;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.view.IV2XMarker;
import com.mogo.eagle.core.network.utils.GsonUtil;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
import java.util.Objects;
import java.util.concurrent.TimeUnit;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020/5/15 5:37 PM
* desc : 道路预警场景
* version: 1.0
*/
public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> implements IMoGoWarningStatusListener {
private static final String TAG = "V2XRoadEventScenario";
public V2XRoadEventScenario() {
setV2XMarker(new V2XRoadEventMarker());
}
@Override
public void init(V2XMessageEntity<V2XRoadEventEntity> v2XMessageEntity) {
try {
Logger.d(TAG, "v2XMessageEntity:" + GsonUtil.jsonFromObject(v2XMessageEntity));
V2XRoadEventEntity v2XRoadEventEntity = v2XMessageEntity.getContent();
if (v2XRoadEventEntity != null) {
if (!isSameScenario(v2XMessageEntity)) {
// 更新要提醒的数据
setV2XMessageEntity(v2XMessageEntity);
show();
} else {
// 更新要提醒的数据
setV2XMessageEntity(v2XMessageEntity);
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void show() {
try {
if (getV2XMessageEntity() != null && getV2XMessageEntity().getContent() != null) {
//只展示不播报 不广播
V2XMessageEntity<V2XRoadEventEntity> entity = getV2XMessageEntity();
V2XRoadEventEntity content = entity.getContent();
if (content != null && !Objects.equals(content.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.getPoiType())
&& !Objects.equals(content.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_JINGZHI.getPoiType())
&& !Objects.equals(content.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGU.getPoiType())
&& !Objects.equals(content.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_CONGESTION.getPoiType())) {
content.getTts(false);
}
showWindow();
}
} catch (Exception e) {
e.printStackTrace();
}
}
private void showWindow() {
V2XMessageEntity<V2XRoadEventEntity> entity = getV2XMessageEntity();
V2XRoadEventEntity content = entity != null ? entity.getContent() : null;
if (content != null) {
// //显示警告红边
String alarmText = content.getAlarmContent();
String ttsText = content.getTts();
if (alarmText == null || alarmText.isEmpty()
|| ttsText == null || ttsText.isEmpty()) {
Logger.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)) {
MarkerExploreWay noveltyInfo = content.getNoveltyInfo();
if (noveltyInfo != null) {
MarkerLocation eventLocation = noveltyInfo.getLocation();
if (eventLocation != null) {
double distance = content.getDistance();
alarmText = String.format(alarmText, Math.round(distance) + "");
ttsText = String.format(ttsText, Math.round(distance) + "");
}
}
}
//占道施工预警
if (poiType.equals("10006") || poiType.equals("100061")) {
long currentTime = System.currentTimeMillis() / 1000;
long oldTime = SharedPrefsMgr.getInstance(AbsMogoApplication.getApp()).getLong("roadwork", 0);
if (currentTime - oldTime > 60) { //超过一分钟，才会继续播报重复提醒
SharedPrefsMgr.getInstance(AbsMogoApplication.getApp()).putLong("roadwork", System.currentTimeMillis() / 1000);
CallerAutoPilotControlManager.sendTripInfo(5, "", "", "", false);
}
}
CallerMsgBoxManager.INSTANCE.saveMsgBox(
new MsgBoxBean(
MsgBoxType.V2X,
new V2XMsg(poiType,
alarmText,
ttsText)
)
);
CallerHmiManager.INSTANCE.warningV2X(poiType, alarmText,
ttsText, this,WarningDirectionEnum.ALERT_WARNING_TOP,
TimeUnit.SECONDS.toMillis(5));
}
}
@Override
public void drawPOI() {
IV2XMarker marker = getV2XMarker();
if (marker != null) {
// 重置告警信息
marker.drawPOI(getV2XMessageEntity().getContent());
}
}
@Override
public void clearPOI() {
// IV2XMarker marker = getV2XMarker();
// if (marker != null) {
// marker.clearPOI();
// }
}
@Override
public void onShow() {
if (isNeedChangeAngle()) {
CallerVisualAngleManager.INSTANCE.changeAngle(RoadEvent.INSTANCE);
}
V2XMessageEntity<V2XRoadEventEntity> entity = getV2XMessageEntity();
if (entity != null) {
V2XRoadEventEntity content = entity.getContent();
if (content != null) {
if (entity.isNeedAddLine() && !EventTypeEnumNew.TYPE_SOCKET_ROAD_CONGESTION.getPoiType().equals(content.getPoiType())) {
drawPOI();
}
}
}
}
private boolean isNeedChangeAngle() {
V2XMessageEntity<V2XRoadEventEntity> entity = getV2XMessageEntity();
V2XRoadEventEntity content = entity != null ? entity.getContent() : null;
if (content == null) {
return true;
}
return !EventTypeEnumNew.GHOST_PROBE.getPoiType().equals(content.getPoiType());
}
@Override
public void onDismiss() {
CallerHmiManager.INSTANCE.dismissWarning(WarningDirectionEnum.ALERT_WARNING_TOP);
if (isNeedChangeAngle()) {
CallerVisualAngleManager.INSTANCE.changeAngle(new Default(3, TimeUnit.SECONDS));
}
release();
}
}

174
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/warning/V2XFrontWarningScenario.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.warning;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
import android.graphics.Color;
import android.text.Spannable;
import android.text.SpannableStringBuilder;
import android.text.style.ForegroundColorSpan;
import android.util.Log;
import androidx.annotation.Nullable;
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.V2XMessageEntity;
import com.mogo.eagle.core.data.msgbox.MsgBoxBean;
import com.mogo.eagle.core.data.msgbox.MsgBoxType;
import com.mogo.eagle.core.data.msgbox.V2XMsg;
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
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.msgbox.CallerMsgBoxManager;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.impl.AbsV2XScenario;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.view.IV2XMarker;
import com.mogo.eagle.core.data.v2x.V2XWarningTarget;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import java.math.BigDecimal;
import java.util.Locale;
import java.util.concurrent.TimeUnit;
/**
* @author liujing
* @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 IMoGoChassisLocationGCJ02Listener, IMoGoWarningStatusListener {
private static final String TAG = "V2XWarningMarker";
private static final V2XWarningMarker sV2XWarningMarker = new V2XWarningMarker();
private V2XWarningTarget mMarkerEntity;
private WarningDirectionEnum mDirection;
public V2XFrontWarningScenario() {
//setV2XMarker(sV2XWarningMarker);
}
@Override
public void init(@Nullable V2XMessageEntity v2XMessageEntity) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "----- init -----:\n" + (v2XMessageEntity == null ? "null" : v2XMessageEntity.toString()));
try {
setV2XMessageEntity(v2XMessageEntity);
if (v2XMessageEntity != null && v2XMessageEntity.getContent() instanceof V2XWarningTarget) {
mMarkerEntity = (V2XWarningTarget) v2XMessageEntity.getContent();
show();
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void show() {
CallerLogger.INSTANCE.d(M_V2X + TAG, "----- show --- 1 --:\n" + (mMarkerEntity == null ? "null" : mMarkerEntity.toString()));
if (mMarkerEntity != null) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "----- show --- 2 --:\n" + mMarkerEntity);
String v2xType = getV2XTypeForFrontWarning(mMarkerEntity);
V2XMessageEntity entity = getV2XMessageEntity();
if (!v2xType.equals("0")) {
if (getAlertContentForFrontWarning(mMarkerEntity).toString() == null
|| getAlertContentForFrontWarning(mMarkerEntity).toString().isEmpty()
|| mMarkerEntity.getTts() == null || mMarkerEntity.getTts().isEmpty()) {
Log.d("MsgBox-FrontWarScenario", "alertContent或ttsContent为空!");
}
CallerMsgBoxManager.INSTANCE.saveMsgBox(
new MsgBoxBean(
MsgBoxType.V2X,
new V2XMsg(v2xType + "",
getAlertContentForFrontWarning(mMarkerEntity).toString(),
mMarkerEntity.getTts())
)
);
CallerHmiManager.INSTANCE.warningV2X(v2xType + "",
getAlertContentForFrontWarning(mMarkerEntity), mMarkerEntity.getTts(),
this,getDirection(),
TimeUnit.SECONDS.toMillis(5));
}
}
}
private String getV2XTypeForFrontWarning(V2XWarningTarget entity) {
switch (entity.getType()) {
case 1:
case 11:
entity.setTts("注意行人");
return EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.getPoiType();
case 2:
entity.setTts("注意自行车");
case 4:
entity.setTts("注意摩托车");
return EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.getPoiType();
}
return "0";
}
private CharSequence getAlertContentForFrontWarning(V2XWarningTarget entity) {
double dis = entity.getDistance();
//距离四舍五入保留整数
BigDecimal bg = new BigDecimal(dis);
double disBig = bg.setScale(0, BigDecimal.ROUND_HALF_UP).doubleValue();
String distance = String.format(Locale.getDefault(), "%.0f", disBig) + "米";
String content = entity.getWarningContent();
SpannableStringBuilder ssb = new SpannableStringBuilder(content + distance);
ssb.setSpan(new ForegroundColorSpan(Color.parseColor("#FF3036")), content.length(), ssb.length(), Spannable.SPAN_INCLUSIVE_EXCLUSIVE);
return ssb;
}
@Override
public void drawPOI() {
IV2XMarker marker = getV2XMarker();
if (marker != null && mMarkerEntity != null) {
marker.drawPOI(mMarkerEntity);
CallerLogger.INSTANCE.d(M_V2X + TAG, "drawPOI");
}
}
@Override
public void clearPOI() {
CallerLogger.INSTANCE.d(M_V2X + TAG, "----- clearPOI -----");
}
@Override
public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
sV2XWarningMarker.onCarLocationChanged2(gnssInfo);
}
private WarningDirectionEnum getDirection(){
WarningDirectionEnum warningDirectionEnum = WarningDirectionEnum.ALERT_WARNING_ALL;
switch (mMarkerEntity.getDirection()) {
case 0:
warningDirectionEnum = WarningDirectionEnum.ALERT_WARNING_NON;
break;
case 1:
warningDirectionEnum = WarningDirectionEnum.ALERT_WARNING_TOP;
break;
case 2:
warningDirectionEnum = WarningDirectionEnum.ALERT_WARNING_BOTTOM;
break;
case 3:
warningDirectionEnum = WarningDirectionEnum.ALERT_WARNING_LEFT;
break;
case 4:
warningDirectionEnum = WarningDirectionEnum.ALERT_WARNING_RIGHT;
break;
}
mDirection = warningDirectionEnum;
return warningDirectionEnum;
}
@Override
public void onShow() {
//预警蒙层
drawPOI();
}
@Override
public void onDismiss() {
if (mDirection != null) {
CallerHmiManager.INSTANCE.dismissWarning(mDirection);
}
// clearPOI();
}
}

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core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/warning/V2XWarningMarker.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.warning;
import static com.mogo.eagle.core.data.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA;
import static com.mogo.eagle.core.data.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.module.status.MogoStatusManager;
import com.mogo.commons.utils.Trigonometric;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.data.v2x.DrawLineInfo;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.function.biz.v2x.v2n.bridge.BridgeApi;
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoPersonWarnPolylineManager;
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoStopPolylineManager;
import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoWarnPolylineManager;
import com.mogo.eagle.function.biz.v2x.v2n.scenario.view.IV2XMarker;
import com.mogo.eagle.core.data.v2x.V2XLocation;
import com.mogo.eagle.core.data.v2x.V2XWarningTarget;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.marker.IMogoMarkerManager;
import com.mogo.map.overlay.IMogoPolyline;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Objects;
/**
* @author liujing
* @description 前方预警marker打点 绘制安全线和预警线 衡阳交付-取消划线需求,只渲染识别物红色模型移动过程,代码保留
* @since: 2021/3/30
*/
public class V2XWarningMarker implements IV2XMarker {
private static final String TAG = "V2XWarningMarker";
private static final String WARNING_ARROWS = "WARNING_ARROWS";
private V2XWarningTarget mCloundWarningInfo;
private boolean isSelfLineClear = true;//绘制线是否已被清除
private final List fillPoints = new ArrayList();//停止线经纬度合集
private boolean isFirstLocation = false;
private MogoLatLng carLocation = new MogoLatLng(
CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude(),
CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude()
);
/*
* 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 = new MogoLatLng(0, 0);
private static long showTime = 6000;
private double bearing;
private boolean hasStopLines = false;
@Override
public void drawPOI(Object entity) {
try {
CallerLogger.INSTANCE.d(M_V2X + TAG, "===drawPOI");
mCloundWarningInfo = (V2XWarningTarget) entity;
drawLineWithEntity();
} catch (Exception e) {
CallerLogger.INSTANCE.d(M_V2X + TAG, e.toString());
}
}
public void drawLineWithEntity() {
showTime = mCloundWarningInfo.getShowTime() > 0 ? mCloundWarningInfo.getShowTime() * 1000 : 6000;
fillPointOnStopLine();
MogoLocation location = BridgeApi.INSTANCE.getLocation().get();
if (location == null) {
return;
}
bearing = location.getHeading();
if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null) {
hasStopLines = mCloundWarningInfo.getStopLines().size() > 0;
}
isSelfLineClear = false;
isFirstLocation = false;
if (fillPoints != null && fillPoints.size() > 0) {
//存在停止线的情况 自车与停止线之间绘制蓝色安全线 停止线向前50m绘制红色预警线
middleLocationInStopLine = getMiddleLocationInStopLine();
//停止线前方画线
WorkThreadHandler.getInstance().postDelayed(() -> {
if (carLocation.lat != 0 && carLocation.lon != 0) {
//在自车与停止线直线绘制蓝色预警线
//衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
//drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
} else {
}
//二轮车和行人的渲染和移动
IMogoMarkerManager marker = CallerMapUIServiceManager.INSTANCE.getMarkerManager(AbsMogoApplication.getApp());
if (marker != null) {
marker.removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
}
/* 衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
//获取停止线前方50m坐标点
MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine,
50, angleForCarMoveDirection());
//停止线向前方50m绘制红色预警线
drawRedWarningLineFrontOfStopLine(mCloundWarningInfo, middleLocationInStopLine,
warningLocation);
*/
Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMarkerService()).renderWarningMoveMarker(mCloundWarningInfo.getLon(), mCloundWarningInfo.getLat(), mCloundWarningInfo.getType(), mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getCollisionLon(), mCloundWarningInfo.getAngle(), mCloundWarningInfo.getShowTime());
//添加停止线marker
//衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
//handleStopLine();
}, 0);
CallerLogger.INSTANCE.d(M_V2X + TAG, "显示时间为++" + showTime + "识别物类型:" +
String.valueOf(mCloundWarningInfo.getType()));
} else { //无停止线
CallerLogger.INSTANCE.d(M_V2X + TAG, "无停止线");
WorkThreadHandler.getInstance().postDelayed(() -> {
/* 衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
CallerLogger.INSTANCE.d(M_V2X + TAG, "无停止线" + mCloundWarningInfo.toString());
//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);
if (carLocation.lat != 0 && carLocation.lon != 0) {
drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
} else {
CallerLogger.INSTANCE.d(M_V2X + TAG, "数据为空carLocation == null");
}
*/
Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMarkerService()).renderWarningMoveMarker(mCloundWarningInfo.getLon()
, mCloundWarningInfo.getLat()
, mCloundWarningInfo.getType()
, mCloundWarningInfo.getCollisionLat()
, mCloundWarningInfo.getCollisionLon()
, mCloundWarningInfo.getAngle()
, mCloundWarningInfo.getShowTime());
}, 0);
}
clearAllLine();
}
/*
*
* */
public double angleForCarMoveDirection() {
MogoLatLng startLatLng = new MogoLatLng(carLocation.lat, carLocation.lon);
MogoLatLng endLatLng = new MogoLatLng(middleLocationInStopLine.lat, middleLocationInStopLine.lon);
double angle = Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat);
CallerLogger.INSTANCE.d(M_V2X + TAG, "angle==" + String.valueOf(angle));
return angle;
}
/*绘制停止线前方50m的红色预警线
* startLatLng: 划线起点=停止线上的坐标点
* mogoLatLng: 停止线前方50m坐标点
* */
private void drawRedWarningLineFrontOfStopLine(V2XWarningTarget info, MogoLatLng
startLatLng, MogoLatLng mogoLatLng) {
if (info != null) {
double angle = Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, mogoLatLng.lon, mogoLatLng.lat);
CallerLogger.INSTANCE.d(M_V2X + TAG, "angle==drawRedWarningLineFrontOfStopLine:" + String.valueOf(angle));
IMoGoStopPolylineManager stopPolyLineMnager = BridgeApi.INSTANCE.v2xStopPolyline();
if (stopPolyLineMnager != null) {
IMogoPolyline polyLine = stopPolyLineMnager.getMogoStopPolyline();
MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon);
MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng.lon, startLatLng.lat, 25, angle);
if (polyLine != null) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "drawStopLine polyLine != null");
polyLine.setPoints(Arrays.asList(startLatLng, addMiddleLoc, endLatlng));
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.getHeading());
CallerLogger.INSTANCE.d(TAG, "drawStopLine width = " + info.getRoadwidth());
lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
stopPolyLineMnager.drawStopPolyline(BridgeApi.INSTANCE.context(), lineInfo);
}
CallerLogger.INSTANCE.d(M_V2X + TAG, "停止线前方50m区域的三个坐标点是:" + startLatLng.lon + "," + startLatLng.lat +
"中间点坐标:" + addMiddleLoc.lon + "," + addMiddleLoc.lat
+ "终点" + endLatlng.lon + "," + endLatlng.lat);
}
} else {
clearAllLine();
}
}
public void clearAllLine() {
UiThreadHandler.postDelayed(() -> {
CallerLogger.INSTANCE.d(M_V2X + TAG, "清除所有预警线的时间是:" + String.valueOf(showTime));
//清除识别物到碰撞点预警线
IMoGoPersonWarnPolylineManager personStopPolyLineManager = BridgeApi.INSTANCE.v2xPersonWarnPolyline();
if (personStopPolyLineManager != null) {
personStopPolyLineManager.clearLine();
}
//清除车前方第一条预警线
IMoGoWarnPolylineManager warnPolyLineManager = BridgeApi.INSTANCE.v2xWarnPolyline();
if (warnPolyLineManager != null) {
warnPolyLineManager.clearLine();
}
//清除停止线
IMoGoStopPolylineManager stopPolyLineManager = BridgeApi.INSTANCE.v2xStopPolyline();
if (stopPolyLineManager != null) {
stopPolyLineManager.clearLine();
}
IMogoMarkerManager marker = CallerMapUIServiceManager.INSTANCE.getMarkerManager(AbsMogoApplication.getApp());
if (marker != null) {
//清除小箭头
marker.removeMarkers(WARNING_ARROWS);
//清除停止线
marker.removeMarkers(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
}
isSelfLineClear = true;
}, showTime);
}
/**
* 补点后的停止线经纬度合集
*/
public void fillPointOnStopLine() {
try {
fillPoints.clear();
List stopLines = mCloundWarningInfo.getStopLines();
if (stopLines != null && stopLines.size() > 1) {
V2XLocation x = mCloundWarningInfo.getStopLines().get(0);
V2XLocation y = mCloundWarningInfo.getStopLines().get(1);
//两点间的距离
float distance = CoordinateUtils.calculateLineDistance(x.getLon(), x.getLat(), y.getLon(), y.getLat());
float average = distance / 3;
//两点间的角度
double angle = Trigonometric.getAngle(x.getLon(), x.getLat(), y.getLon(), y.getLat());
//根据距离和角度获取下个点的经纬度
fillPoints.add(x);
for (int i = 1; i < 3; i++) {
MogoLatLng newLocation = Trigonometric.getNewLocation(x.getLon(), x.getLat(), average * i, angle);
fillPoints.add(newLocation);
}
fillPoints.add(y);
} else {
CallerLogger.INSTANCE.d(M_V2X + TAG, "停止线数据不存在");
}
} catch (Exception e) {
CallerLogger.INSTANCE.e(M_V2X + TAG, "exception : " + e);
e.printStackTrace();
}
}
/*
* 停止线绘制
* */
private void handleStopLine() {
try {
if (mCloundWarningInfo != null) {
IMogoMarkerManager marker = CallerMapUIServiceManager.INSTANCE.getMarkerManager(AbsMogoApplication.getApp());
if (marker != null) {
marker.removeMarkers(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
}
for (int i = 0; i < fillPoints.size(); i++) {
V2XWarningTarget entity = new V2XWarningTarget();
MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
entity.setLat(latLng.lat);
entity.setLon(latLng.lon);
entity.setHeading(mCloundWarningInfo.getHeading());
Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMarkerService()).renderStopLineMarker(entity.getLon(), entity.getLat());
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
private MogoLatLng getMogoLat(MogoLatLng latlng) {
MogoLatLng newLocation = Trigonometric.getNewLocation(latlng.lon, latlng.lat, mCloundWarningInfo.getStopLineDistance(),
mCloundWarningInfo.getAngle());
return newLocation;
}
/*
* 自车前方的点,落点在停止线上--通过自车位置与距离停止线之间的距离计算
* */
private MogoLatLng getMiddleLocationInStopLine() {
if (carLocation.lat == 0 || carLocation.lon == 0) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "获取不到车的位置");
}
MogoLatLng newLocation = new MogoLatLng(0, 0);
if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null && mCloundWarningInfo.getStopLines().size() > 1) {
V2XLocation x = mCloundWarningInfo.getStopLines().get(0);
V2XLocation y = mCloundWarningInfo.getStopLines().get(1);
float distance = CoordinateUtils.calculateLineDistance(x.getLon(), x.getLat(), y.getLat(), y.getLat());
double angle = Trigonometric.getAngle(x.getLat(), x.getLat(), y.getLon(), y.getLat());
newLocation = Trigonometric.getNewLocation(x.getLon(), x.getLat(), distance * 0.5, angle);
} else {
CallerLogger.INSTANCE.d(M_V2X + TAG, "停止线返回坐标点数量不正确" + mCloundWarningInfo.getStopLines().size());
}
return newLocation;
}
/**
* 存在停止线时自车与停止线之间为蓝色预警
* 不存在停止线,自车与预碰撞点之间为红色预警
* lon 自车经度
* lat 自车纬度
*/
public void drawSelfCarLine(double lon, double lat, float bearing) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "drawSelfCarLine");
if (!isSelfLineClear) {
if (mCloundWarningInfo != null) {
IMoGoWarnPolylineManager warnPolyLineManager = BridgeApi.INSTANCE.v2xWarnPolyline();
if (warnPolyLineManager == null) {
return;
}
IMogoPolyline mogoPolyline = warnPolyLineManager.getMogoWarnPolyline();
MogoLatLng startLatlng = new MogoLatLng(0, 0);
MogoLatLng endLatlng = new MogoLatLng(0, 0);
MogoLatLng addMiddleLoc = new MogoLatLng(0, 0);
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(hasStopLines ?
middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(), hasStopLines ?
middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
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.getLon(), startLatlng.getLat(), distance / 2,
Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));
CallerLogger.INSTANCE.d(M_V2X + TAG, "angle==扩展点为了渐变色添加:" +
String.valueOf(Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat)));
if (mogoPolyline != null) {
mogoPolyline.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
mogoPolyline.setTransparency(0.5f);
} else {
DrawLineInfo info = new DrawLineInfo(); // 对象
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);
if (mCloundWarningInfo.getStopLines() != null) {
info.setHasStopLines(mCloundWarningInfo.getStopLines().size() > 0);
}
warnPolyLineManager.drawWarnPolyline(BridgeApi.INSTANCE.context(), info);
CallerLogger.INSTANCE.d(M_V2X + TAG, "自车前方第一条线" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
}
CallerLogger.INSTANCE.d(M_V2X + 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);
} else {
clearAllLine();
}
}
}
/**
* 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(V2XWarningTarget info) {
if (info != null) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "info != null");
IMoGoPersonWarnPolylineManager personWarnPolylineManager = BridgeApi.INSTANCE.v2xPersonWarnPolyline();
if (personWarnPolylineManager == null) {
return;
}
IMogoPolyline polyLine = personWarnPolylineManager.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.getLon(), startLatlng.getLat(), distance / 2,
Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));//补点
if (polyLine != null) {
CallerLogger.INSTANCE.d(M_V2X + TAG, "目标物与碰撞点连线 != null");
polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
polyLine.setTransparency(0.5f);
} else {
//识别物到预碰撞点之间的箭头
addArrows(startLatlng, endLatlng);
DrawLineInfo lineInfo = new DrawLineInfo();
List locations = new ArrayList();
locations.add(startLatlng);
locations.add(addMiddleLoc);
locations.add(endLatlng);
lineInfo.setLocations(locations);
lineInfo.setHeading(info.getHeading());
lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
personWarnPolylineManager.drawPersonWarnPolyline(BridgeApi.INSTANCE.context(), lineInfo);
CallerLogger.INSTANCE.d(M_V2X + TAG, "目标物与预碰撞点画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
}
} else {
CallerLogger.INSTANCE.e(M_V2X + TAG, "info == null");
clearAllLine();
}
}
//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);
CallerLogger.INSTANCE.d(M_V2X + 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.getLon(), startLatLng.getLat(), 5 * (i + 1), Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat));
Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMarkerService()).drawerArrowsMarkerWithLocation(newLo, WARNING_ARROWS, 10, new Double(rotate).intValue());
CallerLogger.INSTANCE.d(M_V2X + TAG, "小箭头位置" + newLo);
}
}
}
//线随车动
public void onCarLocationChanged2(MogoLocation latLng) {
carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
if (MogoStatusManager.getInstance().isVrMode() && !isSelfLineClear) {
if (mCloundWarningInfo != null) {
V2XLocation v2XLocation = new V2XLocation();
v2XLocation.setLat(latLng.getLatitude());
v2XLocation.setLon(latLng.getLongitude());
mCloundWarningInfo.setCarLocation(v2XLocation);
}
//衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
//drawSelfCarLine(latLng.getLongitude(), latLng.getLatitude(), latLng.getBearing());
}
CallerLogger.INSTANCE.d(M_V2X + TAG, "车辆行驶轨迹" + latLng.getLongitude() + "," + latLng.getLatitude());
}
}

13
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/view/IV2XMarker.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.scenario.view;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020/5/15 4:13 PM
* desc : V2X安全驾驶场景接口
* version: 1.0
*/
public interface IV2XMarker<T> {
void drawPOI(T entity);
}

14
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/test/TestConsts.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.test
class TestConsts {
companion object {
/**
* V2X 测试控制面板广播Action
*/
@JvmField
val BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY = "sceneType"
}
}

189
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/test/TestOnLineCarUtils.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.test;
import static com.mogo.eagle.core.data.map.entity.V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING;
import com.mogo.eagle.core.data.map.MogoLatLng;
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.map.entity.V2XWarningEntity;
import com.mogo.eagle.core.function.v2x.R;
import com.mogo.eagle.core.data.v2x.V2XOptimalRouteDataRes;
import com.mogo.eagle.core.network.utils.GsonUtil;
import com.mogo.eagle.core.utilcode.util.Utils;
import java.io.ByteArrayOutputStream;
import java.io.InputStream;
import java.util.List;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020-01-0918:20
* desc : 生成测试数据
* version: 1.0
*/
public class TestOnLineCarUtils {
/**
* 模拟道路事件测试数据
*/
public static V2XMessageEntity<V2XRoadEventEntity> getV2XScenarioAIRoadEventData() {
V2XRoadEventEntity entity = new V2XRoadEventEntity();
entity.setLocation(new MarkerLocation());
entity.setShowEventButton(false);
entity.setPoiType("100061");
entity.setExpireTime(20000);
V2XMessageEntity<V2XRoadEventEntity> body = new V2XMessageEntity<>();
body.setContent(entity);
body.setType(ALERT_ROAD_WARNING);
return body;
}
/**
* 模拟道路事件UGC测试数据
*/
public static V2XMessageEntity<V2XRoadEventEntity> getV2XScenarioRoadEventUGCData() {
try {
InputStream inputStream = Utils.getApp()
.getResources()
.openRawResource(R.raw.scenario_road_event_data);
ByteArrayOutputStream baos = new ByteArrayOutputStream();
int len = -1;
byte[] buffer = new byte[1024];
while ((len = inputStream.read(buffer)) != -1) {
baos.write(buffer, 0, len);
}
inputStream.close();
// 加载数据源
V2XRoadEventEntity v2xRoadEventEntity = GsonUtil.objectFromJson(baos.toString(), V2XRoadEventEntity.class);
V2XMessageEntity<V2XRoadEventEntity> v2xMessageEntity = new V2XMessageEntity<>();
// 控制类型
v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_EVENT_UGC_WARNING);
// 设置数据
v2xMessageEntity.setContent(v2xRoadEventEntity);
return v2xMessageEntity;
} catch (Exception e) {
e.printStackTrace();
}
return null;
}
/**
* 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 = Utils.getApp()
.getResources()
.openRawResource(id);
ByteArrayOutputStream baos = new ByteArrayOutputStream();
int len = -1;
byte[] buffer = new byte[1024];
while ((len = inputStream.read(buffer)) != -1) {
baos.write(buffer, 0, len);
}
inputStream.close();
// 加载数据源
V2XWarningEntity warningEntity = GsonUtil.objectFromJson(baos.toString(), V2XWarningEntity.class);
V2XMessageEntity messageEntity = new V2XMessageEntity();
messageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_WEAKNESS);
messageEntity.setContent(warningEntity);
return messageEntity;
} catch (Exception e) {
e.printStackTrace();
}
return null;
}
/**
* 模拟最优路线推送
*/
public static V2XMessageEntity<V2XOptimalRouteDataRes> getV2XOptimalRoute() {
try {
InputStream inputStream = Utils.getApp()
.getResources()
.openRawResource(R.raw.test_data_v2x_zuiyouluxian);
ByteArrayOutputStream baos = new ByteArrayOutputStream();
int len = -1;
byte[] buffer = new byte[1024];
while ((len = inputStream.read(buffer)) != -1) {
baos.write(buffer, 0, len);
}
inputStream.close();
// 加载数据源
V2XOptimalRouteDataRes v2xRoadEventEntity = GsonUtil.objectFromJson(baos.toString(), V2XOptimalRouteDataRes.class);
V2XMessageEntity<V2XOptimalRouteDataRes> v2xMessageEntity = new V2XMessageEntity<>();
// 控制类型
v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_PUSH_VR_SHOW);
// 设置数据
v2xMessageEntity.setContent(v2xRoadEventEntity);
return v2xMessageEntity;
} catch (Exception e) {
e.printStackTrace();
}
return null;
}
/**
* 自车求助测试数据
*/
public static V2XMessageEntity<Boolean> getV2XScenarioCarForHelpEventData() {
try {
V2XMessageEntity<Boolean> v2xMessageEntity = new V2XMessageEntity<>();
// 控制类型
v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_CAR_FOR_HELP);
// 设置数据
v2xMessageEntity.setContent(true);
return v2xMessageEntity;
} catch (Exception e) {
e.printStackTrace();
}
return null;
}
/**
* 返回绘制线路测试数据
*
* @return
*/
public static List<MogoLatLng> getTestCoordinates() {
try {
InputStream inputStream = Utils.getApp()
.getResources()
.openRawResource(R.raw.test_coordinates);
ByteArrayOutputStream baos = new ByteArrayOutputStream();
int len = -1;
byte[] buffer = new byte[1024];
while ((len = inputStream.read(buffer)) != -1) {
baos.write(buffer, 0, len);
}
inputStream.close();
// 加载数据源
return GsonUtil.arrayFromJson(baos.toString(), MogoLatLng.class);
} catch (Exception e) {
e.printStackTrace();
}
return null;
}
}

90
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/test/TestV2XReceiver.java Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.test;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import androidx.localbroadcastmanager.content.LocalBroadcastManager;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity;
import com.mogo.eagle.core.data.v2x.V2XOptimalRouteDataRes;
import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst;
import java.util.List;
/**
* V2X 测试面板广播接收，目的是可以通过广播调用起来面板
*
* @author donghongyu
*/
public class TestV2XReceiver extends BroadcastReceiver {
private static final String TAG = "TestV2XReceiver";
private Context mContext;
@Override
public void onReceive(Context context, Intent intent) {
try {
this.mContext = context;
int sceneType = intent.getIntExtra(TestConsts.BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY, 0);
// 分发场景
dispatchSceneTest(sceneType);
} catch (Exception e) {
e.printStackTrace();
}
}
/**
* 分发处理场景
*
* @param sceneType 场景类型
*/
private void dispatchSceneTest(int sceneType) {
if (sceneType == 1) {// 触发AI道路施工事件
V2XMessageEntity<V2XRoadEventEntity> v2XMessageEntity =
TestOnLineCarUtils.getV2XScenarioAIRoadEventData();
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 == 10) {//触发事件UGC
V2XMessageEntity<V2XRoadEventEntity> v2XMessageEntity =
TestOnLineCarUtils.getV2XScenarioRoadEventUGCData();
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 == 12) {//车路云场景预警-右侧
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);
} else if (sceneType == 13) {//车路云场景预警-左侧
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
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 == 17) {//最优路线推荐
V2XMessageEntity<V2XOptimalRouteDataRes> v2XMessageEntity =
TestOnLineCarUtils.getV2XOptimalRoute();
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 == 20) {// 小地图绘制线
List<MogoLatLng> coordinates = TestOnLineCarUtils.getTestCoordinates();
// CallerSmpManager.drawablePolyline(coordinates);
} else if (sceneType == 21) {// 小地图清除绘制线
// CallerSmpManager.clearPolyline();
}
}
}

52
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/DistanceUtils.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.utils
import kotlin.math.asin
import kotlin.math.cos
import kotlin.math.sin
import kotlin.math.sqrt
internal class DistanceUtils {
companion object {
/**
* @param lon1
* @param lat1
* @param lon2
* @param lat2
* @return 两坐标的距离 单位：米（M）
*/
fun calculateLineDistance(lon1: Double, lat1: Double, lon2: Double, lat2: Double): Float {
return try {
var var2 = lon1
var var4 = lat1
var var6 = lon2
var var8 = lat2
var2 *= 0.01745329251994329
var4 *= 0.01745329251994329
var6 *= 0.01745329251994329
var8 *= 0.01745329251994329
val var10 = sin(var2)
val var12 = sin(var4)
val var14 = cos(var2)
val var16 = cos(var4)
val var18 = sin(var6)
val var20 = sin(var8)
val var22 = cos(var6)
val var24 = cos(var8)
val var28 = DoubleArray(3)
val var29 = DoubleArray(3)
var28[0] = var16 * var14
var28[1] = var16 * var10
var28[2] = var12
var29[0] = var24 * var22
var29[1] = var24 * var18
var29[2] = var20
(asin(sqrt((var28[0] - var29[0]) * (var28[0] - var29[0]) + (var28[1] - var29[1]) * (var28[1] - var29[1]) + (var28[2] - var29[2]) * (var28[2] - var29[2])) / 2.0) * 1.27420015798544E7).toFloat()
} catch (var26: Throwable) {
var26.printStackTrace()
0.0f
}
}
}
}

95
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/EntityUtils.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.utils
import androidx.core.util.Pair
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.V2XRoadEventEntity
import com.mogo.eagle.core.data.v2x.V2XMarkerCardResult
import com.mogo.eagle.core.data.v2x.V2XRoadXData
import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.AiRoadMarker
import com.mogo.eagle.core.utilcode.util.CoordinateTransform
import mogo.telematics.pad.MessagePad
import roadwork.Road
fun Road.RW_PB.toRoadMarker(): V2XMarkerCardResult =
V2XMarkerCardResult().also { l1 ->
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<MarkerExploreWay>().also { l2 ->
l2.add(MarkerExploreWay().also { l3 ->
l3.poiType = this.roadwork?.poiType?.toString()
l3.setGenerateTime(this.roadwork?.detectTime ?: 0L)
l3.location = MarkerLocation().also { l4 ->
val p = CoordinateTransform.WGS84ToGCJ02(this.roadwork?.center?.point?.lon ?: 0.0, this.roadwork?.center?.point?.lat ?: 0.0)
l4.lon = p[0]
l4.lat = p[1]
l4.angle = this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0
}
l3.infoId = id
l3.gpsLocation = Pair(this.roadwork?.center?.point?.lon ?: 0.0, this.roadwork?.center?.point?.lat ?: 0.0)
l3.polygon = this.roadwork?.polygonList?.takeIf { it.isNotEmpty() }?.map { Pair(it.lon, it.lat) }
})
}
AiRoadMarker.aiMakers[id]?.receive()
}
fun V2XRoadXData.toRoadMarker(): V2XMarkerCardResult =
V2XMarkerCardResult().also { l1 ->
l1.exploreWay = ArrayList<MarkerExploreWay>().also { l2 ->
l2.add(MarkerExploreWay().also { l3 ->
l3.poiType = this.poiType
l3.setGenerateTime(this.detectTime ?: 0L)
l3.location = MarkerLocation().also { l4 ->
val p = CoordinateTransform.WGS84ToGCJ02(this.center?.lon ?: 0.0, this.center?.lat ?: 0.0)
l4.lon = p[0]
l4.lat = p[1]
l4.angle = this.centerRoad?.bearing ?: 0.0
}
l3.infoId = this.index
l3.gpsLocation = Pair(this.center?.lon ?: 0.0, this.center?.lat ?: 0.0)
l3.polygon = this.polygon?.takeIf { it.isNotEmpty() }?.map { Pair(it.lon, it.lat) }
})
}
AiRoadMarker.aiMakers[this.index]?.receive()
}
fun MessagePad.TrackedObject.toRoadMarker(poiType: String): V2XMarkerCardResult =
V2XMarkerCardResult().also { l1 ->
val id = "${this.longitude}_${this.latitude}"
l1.exploreWay = ArrayList<MarkerExploreWay>().also { l2 ->
l2.add(MarkerExploreWay().also { l3 ->
l3.poiType = poiType
l3.setGenerateTime(0L)
l3.location = MarkerLocation().also { l4 ->
val p = CoordinateTransform.WGS84ToGCJ02(this.longitude, this.latitude)
l4.lon = p[0]
l4.lat = p[1]
l4.angle = this.heading
}
l3.infoId = id
l3.gpsLocation = Pair(this.longitude, this.latitude)
l3.polygon = this.polygonList?.takeIf { it.isNotEmpty() }?.map { Pair(it.longitude, it.latitude) }
})
}
AiRoadMarker.aiMakers[id]?.receive()
}
fun V2XMarkerCardResult.toV2XRoadEventEntity(): V2XRoadEventEntity =
V2XRoadEventEntity().also { l1 ->
val exploreWayList: List<MarkerExploreWay>? = this.exploreWay
if (!exploreWayList.isNullOrEmpty() && exploreWayList.isNotEmpty()) {
for (markerExploreWay in exploreWayList) {
if (isRoadEvent(markerExploreWay.poiType)) {
val markerLocation = markerExploreWay.location
l1.location = markerLocation
l1.poiType = markerExploreWay.poiType
l1.noveltyInfo = markerExploreWay
l1.expireTime = 20000
}
}
}
}

38
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/MapUtils.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.utils
import android.content.Context
import android.graphics.Rect
import com.mogo.eagle.core.data.map.MogoLatLng
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.utilcode.util.WindowUtils
class MapUtils {
companion object {
@JvmStatic
fun zoomMap(latLng: MogoLatLng?, context: Context) {
try {
if (latLng == null) {
return
}
val mBoundRect = Rect()
mBoundRect.bottom = WindowUtils.dip2px(context, 100f)
mBoundRect.top = WindowUtils.dip2px(context, 370f)
mBoundRect.left = WindowUtils.dip2px(context, 575f)
mBoundRect.right = WindowUtils.dip2px(context, 100f)
// 当前车辆位置
val carLocation = MogoLatLng(
CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude,
CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude
)
// 调整自适应的地图镜头
CallerMapUIServiceManager.getMapUIController()
?.showBounds("MapUtils", carLocation, listOf(latLng), mBoundRect, true)
} catch (e: Exception) {
e.printStackTrace()
}
}
}
}

70
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/view/V2XMarkerRoadEventView.kt Normal file
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package com.mogo.eagle.function.biz.v2x.v2n.view
import android.content.Context
import android.graphics.Bitmap
import android.view.LayoutInflater
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.enums.EventTypeEnumNew
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
import com.mogo.eagle.core.function.biz.R
import com.mogo.eagle.core.utilcode.util.ViewUtils
import kotlinx.android.synthetic.main.view_marker_event_car.view.*
/**
* author : donghongyu
* e-mail : 1358506549@qq.com
* date : 2020-01-0619:55
* desc :
* 3、道路事件
* 2.18 演示 ：驾驶模式中地图展示“拥堵“、“施工”；
* （ADAS模式下还包含 原有的拥堵、交通检查、封路事件）
* version: 1.0
*/
class V2XMarkerRoadEventView(context: Context, alarmInfo: V2XRoadEventEntity) :
ConstraintLayout(context) {
companion object{
const val TAG = "V2XMarkerRoadEventView"
}
init {
initView(context, alarmInfo)
}
fun initView(context: Context, alarmInfo: V2XRoadEventEntity) {
if (alarmInfo.poiType == EventTypeEnumNew.ALERT_FRONT_CAR.poiType ||
alarmInfo.poiType == EventTypeEnumNew.ALERT_CAR_TROUBLE_WARNING.poiType
) {
LayoutInflater.from(context)
.inflate(R.layout.view_marker_event_car, this)
} else {
LayoutInflater.from(context)
.inflate(R.layout.view_marker_event_road, this)
}
updateIcon(alarmInfo)
}
/**
* @see EventTypeEnumNew
*/
private fun updateIcon(alarmInfo: V2XRoadEventEntity) {
// 道路施工、积水、路面结冰、浓雾、事故、拥堵
val iconResId = EventTypeEnumNew.getUpdateIconRes(alarmInfo.poiType)
if (iconResId != 0) {
ivCar.setImageResource(iconResId)
}
}
/**
* 背景
*/
fun setBackground(imageRes: Int): V2XMarkerRoadEventView {
ivBg.setImageResource(imageRes)
return this
}
fun getView(): Bitmap {
return ViewUtils.fromView(this)
}
}

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