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This commit is contained in:
lixiaopeng
2021-04-07 19:16:32 +08:00
parent 2f80a3ca83
commit e3450f20cf
7 changed files with 78 additions and 109 deletions
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23
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
View File

@@ -26,9 +26,7 @@ import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_
public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedListener { public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedListener {
private static final String TAG = "V2XWarnDataDrawer"; private static final String TAG = "V2XWarnDataDrawer";
private static volatile V2XWarnDataDrawer sInstance; private static volatile V2XWarnDataDrawer sInstance;
private boolean mChangeCarModeStatus; private boolean mChangeCarModeStatus;
private V2XWarnDataDrawer() { private V2XWarnDataDrawer() {
@@ -80,21 +78,18 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
markerShowEntity.setMarkerLocation(location); markerShowEntity.setMarkerLocation(location);
markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_WARN_DATA); markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_WARN_DATA);
WorkThreadHandler.getInstance().postDelayed(() -> { IMogoMarker marker = drawMarker(markerShowEntity);
IMogoMarker marker = drawMarker(markerShowEntity); Log.d("liyz", "renderWarnData marker != null ");
Log.d("liyz", "renderWarnData marker != null "); marker.addDynamicAnchorPosition(new MogoLatLng(data.getCollisionLat(), data.getCollisionLon()), (float) data.getHeading(), 5000);
marker.addDynamicAnchorPosition(new MogoLatLng(data.getCollisionLat(), data.getCollisionLon()), (float) data.getHeading(), 5000);
//移动完成以后，3s后消失
UiThreadHandler.postDelayed( () -> {
marker.remove();
}, 8000 );
}, 0);
//移动完成以后，3s后消失
UiThreadHandler.postDelayed(() -> {
marker.remove();
}, 8000);
} }
public IMogoMarker drawMarker(MarkerShowEntity markerShowEntity) { public IMogoMarker drawMarker(MarkerShowEntity markerShowEntity) {
MogoMarkerOptions options = new MogoMarkerOptions() MogoMarkerOptions options = new MogoMarkerOptions()
.object(markerShowEntity) .object(markerShowEntity)
@@ -104,7 +99,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
options.icon3DRes(getModelRes(2)); //TODO options.icon3DRes(getModelRes(2)); //TODO
// options.anchorColor("#FF4040"); // options.anchorColor("#FF4040");
options.anchorColor("#FF3036"); //红色 options.anchorColor("#FB3C3CFF"); //红色#FF3036 蓝色：#256BFF
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), options); IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), options);
iMarkerView.setMarker(marker); iMarkerView.setMarker(marker);
marker.setToTop(); marker.setToTop();

21
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
View File

@@ -138,27 +138,8 @@ public class V2XWaringManager {
// info1.setHeading(10); // info1.setHeading(10);
// info1.setStartLocation(startLatlng1); // info1.setStartLocation(startLatlng1);
// info1.setEndLocation(endLatlng1); // info1.setEndLocation(endLatlng1);
//
// //只有在3d模型下高精数据才有值 TODO
// if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
// float roadWidth = V2XServiceManager.getMapUIController().getRoadWidth(116.411198243370,
// 39.9809517154582, (float) 3.13919341919472 , true, true);
// Log.d(V2XConst.LOG_NAME_WARN, "roadWidth = " + roadWidth);
// float pixel = V2XServiceManager.getMapUIController().getScalePerPixel();
// float width = roadWidth / pixel;
// Log.d(V2XConst.LOG_NAME_WARN, "width = " + width + "---pixel = " + pixel);
// info1.setWidth(roadWidth);
// }
//
// V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info1);
//
// //延迟3秒清理线
// UiThreadHandler.postDelayed( () -> {
// V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
// }, 3000 );
// adas 每隔一秒传递的他车或行人数据，避免重复
// adas 每隔一秒传递的他车或行人数据
// V2XServiceManager.getmIMogoADASController().addAdasRecognizedDataCallback(resultList -> { // V2XServiceManager.getmIMogoADASController().addAdasRecognizedDataCallback(resultList -> {
// // 绘制近景识别到的车辆，行人和二轮车 // // 绘制近景识别到的车辆，行人和二轮车
// AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList ); // AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList );

20
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoPersonWarnPolylineManager.java
View File

@@ -39,26 +39,12 @@ public class MoGoPersonWarnPolylineManager implements IMoGoPersonWarnPolylineMan
// 渐变色 // 渐变色
List<Integer> colors = new ArrayList<>(); List<Integer> colors = new ArrayList<>();
// if (info.getType() != null) {
// if (info.getType().equals("1")) { //预警 TODO
// colors.add(0xFFFFA31A);
// colors.add(0xFFFFA31A);
// } else {
// colors.add(0xFFE32F46);
// colors.add(0xFFE32F46);
// }
// } else {
// colors.add(0xFFE32F46);
// colors.add(0xFFE32F46);
// }
colors.add(0xFFE32F46); colors.add(0xFFE32F46);
colors.add(0xFFE32F46); colors.add(0xFFE32F46);
// 线条粗细，渐变，渐变色值 // 线条粗细，渐变，渐变色值
Log.d(V2XConst.LOG_NAME_WARN, "MoGoPersonWarnPolylineManager width = " + info.getWidth()); Log.d(V2XConst.LOG_NAME_WARN, "MoGoPersonWarnPolylineManager width = " + info.getWidth());
options.width(info.getWidth()).useGradient(true).transparency(0.1f).colorValues(colors); options.width(info.getWidth()).useGradient(true).colorValues(colors);
// 当前车辆位置 // 当前车辆位置
options.add(info.getStartLocation()); options.add(info.getStartLocation());
// 目标车辆位置 // 目标车辆位置
@@ -66,7 +52,7 @@ public class MoGoPersonWarnPolylineManager implements IMoGoPersonWarnPolylineMan
// 绘制线的对象 // 绘制线的对象
mMogoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(options); mMogoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(options);
mMogoPolyline.setTransparency(0.5f);
} catch (Exception e) { } catch (Exception e) {
e.printStackTrace(); e.printStackTrace();
} }

91
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
View File

@@ -1,15 +1,19 @@
package com.mogo.module.v2x.manager.impl; package com.mogo.module.v2x.manager.impl;
import android.content.Context; import android.content.Context;
import android.content.Intent;
import android.location.Location; import android.location.Location;
import android.util.Log; import android.util.Log;
import androidx.localbroadcastmanager.content.LocalBroadcastManager;
import com.alibaba.android.arouter.facade.annotation.Route; import com.alibaba.android.arouter.facade.annotation.Route;
import com.mogo.map.MogoLatLng; import com.mogo.map.MogoLatLng;
import com.mogo.map.navi.IMogoCarLocationChangedListener2; import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.map.overlay.IMogoPolyline; import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.module.common.MogoApisHandler; import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.drawer.V2XWarnDataDrawer; import com.mogo.module.common.drawer.V2XWarnDataDrawer;
import com.mogo.module.common.entity.V2XMessageEntity;
import com.mogo.module.common.entity.V2XWarningEntity; import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.module.v2x.MoGoV2XServicePaths; import com.mogo.module.v2x.MoGoV2XServicePaths;
import com.mogo.module.v2x.V2XConst; import com.mogo.module.v2x.V2XConst;
@@ -18,7 +22,7 @@ import com.mogo.module.v2x.entity.model.DrawLineInfo;
import com.mogo.module.v2x.manager.IMoGoV2XCloundDataManager; import com.mogo.module.v2x.manager.IMoGoV2XCloundDataManager;
import com.mogo.utils.UiThreadHandler; import com.mogo.utils.UiThreadHandler;
import com.mogo.utils.WorkThreadHandler; import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
import java.util.Arrays; import java.util.Arrays;
@@ -31,6 +35,7 @@ import static com.mogo.module.v2x.V2XServiceManager.getContext;
public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMogoCarLocationChangedListener2 { public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMogoCarLocationChangedListener2 {
private V2XWarningEntity mCloundWarningInfo; private V2XWarningEntity mCloundWarningInfo;
private static String TAG = "MoGoV2XCloundDataManager"; private static String TAG = "MoGoV2XCloundDataManager";
private boolean isSelfLineClear;
@Override @Override
public void init(Context context) { public void init(Context context) {
@@ -44,18 +49,36 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
mCloundWarningInfo = cloundWarningInfo; mCloundWarningInfo = cloundWarningInfo;
//绘制识别物与交汇点连线，并且更新连线数据 //发送预警提示
V2XMessageEntity<V2XWarningEntity> v2xMessageEntity = new V2XMessageEntity<>();
// 控制类型
v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_TOP);
// 设置数据
v2xMessageEntity.setContent(cloundWarningInfo);
// 控制展示状态
v2xMessageEntity.setShowState(true);
Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2xMessageEntity);
LocalBroadcastManager.getInstance(getContext()).sendBroadcast(intent);
isSelfLineClear = false;
WorkThreadHandler.getInstance().postDelayed(() -> { WorkThreadHandler.getInstance().postDelayed(() -> {
//绘制识别物与交汇点连线，并且更新连线数据
drawOtherObjectLine(cloundWarningInfo); drawOtherObjectLine(cloundWarningInfo);
//二轮车和行人的渲染和移动
V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
}, 0); }, 0);
//二轮车和行人的渲染和移动
V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
//延迟3秒清理线 //延迟3秒清理线
UiThreadHandler.postDelayed( () -> { UiThreadHandler.postDelayed(() -> {
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
}, 8000 ); V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
isSelfLineClear = true;
}, 8000);
} }
/** /**
@@ -68,6 +91,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null"); Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
polyLine.setPoints(Arrays.asList(new MogoLatLng(info.getLat(), info.getLon()), polyLine.setPoints(Arrays.asList(new MogoLatLng(info.getLat(), info.getLon()),
new MogoLatLng(info.getCollisionLat(), info.getCollisionLon()))); new MogoLatLng(info.getCollisionLat(), info.getCollisionLon())));
polyLine.setTransparency(0.5f);
} else { } else {
Log.e(V2XConst.LOG_NAME_WARN, "polyLine == null"); Log.e(V2XConst.LOG_NAME_WARN, "polyLine == null");
DrawLineInfo lineInfo = new DrawLineInfo(); DrawLineInfo lineInfo = new DrawLineInfo();
@@ -76,15 +100,14 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
lineInfo.setStartLocation(startLatlng); lineInfo.setStartLocation(startLatlng);
lineInfo.setEndLocation(endLatlng); lineInfo.setEndLocation(endLatlng);
lineInfo.setHeading(info.heading); lineInfo.setHeading(info.heading);
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) { if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
// float roadWidth = V2XServiceManager.getMapUIController().getRoadWidth(info.getLon(), // float roadWidth = V2XServiceManager.getMapUIController().getRoadWidth(info.getLon(),
// info.getLat(), (float) info.heading, true, true); // info.getLat(), (float) info.heading, true, true);
Log.d(V2XConst.LOG_NAME_WARN, "drawOtherObjectLine width = " + info.getRoadwidth());
lineInfo.setWidth(info.getRoadwidth());
} }
Log.d(V2XConst.LOG_NAME_WARN, "drawOtherObjectLine width = " + info.getRoadwidth());
lineInfo.setWidth(info.getRoadwidth());
V2XServiceManager.getMoGoPersonWarnPolylineManager().drawPersonWarnPolyline(getContext(), lineInfo); V2XServiceManager.getMoGoPersonWarnPolylineManager().drawPersonWarnPolyline(getContext(), lineInfo);
} }
} else { } else {
Log.e(V2XConst.LOG_NAME_WARN, "info == null"); Log.e(V2XConst.LOG_NAME_WARN, "info == null");
V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine(); V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
@@ -101,35 +124,31 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
*/ */
@Override @Override
public void onCarLocationChanged2(Location latLng) { public void onCarLocationChanged2(Location latLng) {
Log.d(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude()); // Log.d(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude() + "---isSelfLineClear = " + isSelfLineClear);
//当行人经纬度交点 经纬度不为空，开始画线，否则清理 //当行人经纬度交点 经纬度不为空，开始画线，否则清理
//自车只需要关注移动 //自车只需要关注移动
IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline(); if (!isSelfLineClear) {
if (mCloundWarningInfo != null) { IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
if (mogoPolyline != null) { if (mCloundWarningInfo != null) {
mogoPolyline.setPoints(Arrays.asList(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()), if (mogoPolyline != null) {
new MogoLatLng(mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getCollisionLon()))); mogoPolyline.setPoints(Arrays.asList(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()),
new MogoLatLng(mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getCollisionLon())));
mogoPolyline.setTransparency(0.5f);
} else {
Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 mogoPolyline == null width = " + mCloundWarningInfo.getRoadwidth());
DrawLineInfo info = new DrawLineInfo(); // 对象
MogoLatLng startLatlng = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
MogoLatLng endLatlng = new MogoLatLng(mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getCollisionLon());
info.setHeading(latLng.getBearing());
info.setStartLocation(startLatlng);
info.setEndLocation(endLatlng);
info.setWidth(mCloundWarningInfo.getRoadwidth()); //TODO 还需要转换比例尺
V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
}
} else { } else {
Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 mogoPolyline == null width = " + mCloundWarningInfo.getRoadwidth()); Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 mCloundWarningInfo == null");
DrawLineInfo info = new DrawLineInfo(); // 对象
MogoLatLng startLatlng = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
MogoLatLng endLatlng = new MogoLatLng(mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getCollisionLon());
info.setHeading(latLng.getBearing());
info.setStartLocation(startLatlng);
info.setEndLocation(endLatlng);
info.setWidth(mCloundWarningInfo.getRoadwidth()); //TODO 还需要转换比例尺
V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
}
//延迟3秒清理线 TODO 何时 清理
UiThreadHandler.postDelayed( () -> {
V2XServiceManager.getMoGoWarnPolylineManager().clearLine(); V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
}, 13000 ); }
} else {
Log.e(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 mCloundWarningInfo == null");
V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
} }
} }

21
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
View File

@@ -42,34 +42,21 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
MogoPolylineOptions options = new MogoPolylineOptions(); MogoPolylineOptions options = new MogoPolylineOptions();
List<Integer> colors = new ArrayList<>(); List<Integer> colors = new ArrayList<>();
// if (info.getType() != null) {
// if (info.getType().equals("1")) { //预警 TODO
// colors.add(0xFFFFA31A);
// colors.add(0xFFFFA31A);
// } else {
// colors.add(0xFFE32F46);
// colors.add(0xFFE32F46);
// }
// } else {
// Log.e(V2XConst.LOG_NAME_WARN, "drawWarnPolyline info.getType() == null ");
// colors.add(0xFFE32F46);
// colors.add(0xFFE32F46);
// }
colors.add(0xFFE32F46); colors.add(0xFFE32F46);
colors.add(0xFFE32F46); colors.add(0xFFE32F46);
Log.d(V2XConst.LOG_NAME_WARN, "MoGoWarnPolylineManager roadWidth = " + info.getWidth()); Log.d(V2XConst.LOG_NAME_WARN, "MoGoWarnPolylineManager roadWidth = " + info.getWidth());
// 线条粗细，渐变，渐变色值 // 线条粗细，渐变，渐变色值
options.width(info.getWidth()).useGradient(true).transparency(0.9f).colorValues(colors);
// options.width(info.getWidth()).useGradient(true).colorValues(colors);
// 当前车辆位置 // 当前车辆位置
options.width(info.getWidth() == 0.0 ? 60 : info.getWidth()).useGradient(true).colorValues(colors);
// options.width(60).useGradient(true).colorValues(colors);
options.add(info.getStartLocation()); options.add(info.getStartLocation());
// 目标车辆位置 // 目标车辆位置
options.add(info.getEndLocation()); options.add(info.getEndLocation());
// 绘制线的对象 // 绘制线的对象
mMogoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(options); mMogoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(options);
mMogoPolyline.setTransparency(0.5f);
} catch (Exception e) { } catch (Exception e) {
e.printStackTrace(); e.printStackTrace();

9
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
View File

@@ -48,7 +48,7 @@ public class V2XWarningMarker implements IV2XMarker {
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) { if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
pointsBetween(); pointsBetween();
//绘制停止线 //绘制停止线
drawStopLines(fillPoints); // drawStopLines(fillPoints);
drawSafeLine(); drawSafeLine();
WorkThreadHandler.getInstance().postDelayed(() -> { WorkThreadHandler.getInstance().postDelayed(() -> {
V2XServiceManager.getMarkerManager().removeMarkers(V2XConst.V2X_FRONT_STOP_LINE); V2XServiceManager.getMarkerManager().removeMarkers(V2XConst.V2X_FRONT_STOP_LINE);
@@ -72,9 +72,9 @@ public class V2XWarningMarker implements IV2XMarker {
//根据到停止线的距离和方向角获取经纬度 //根据到停止线的距离和方向角获取经纬度
MogoLatLng MogoLatLng
stopLineLo = LocationUtils.getNewLocation(car, mMarkerEntity.getStopLineDistance(), mMarkerEntity.getAngle()); stopLineLo = LocationUtils.getNewLocation(car, mMarkerEntity.getStopLineDistance(), mMarkerEntity.getAngle());
if (mMarkerEntity.getCollisionLat() > 0 && mMarkerEntity.getCollisionLon() > 0) { // if (mMarkerEntity.getCollisionLat() > 0 && mMarkerEntity.getCollisionLon() > 0) {
drawLine(car, stopLineLo); // drawLine(car, stopLineLo);
} // }
} else { } else {
Log.d(TAG, "自车位置没有拿到"); Log.d(TAG, "自车位置没有拿到");
} }
@@ -152,6 +152,7 @@ public class V2XWarningMarker implements IV2XMarker {
DrawLineInfo drawLineInfo = new DrawLineInfo(); DrawLineInfo drawLineInfo = new DrawLineInfo();
drawLineInfo.setStartLocation(s); drawLineInfo.setStartLocation(s);
drawLineInfo.setEndLocation(e); drawLineInfo.setEndLocation(e);
drawLineInfo.setWidth(60);
V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(mContext, drawLineInfo); V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(mContext, drawLineInfo);
} }

2
modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json
View File

@@ -26,5 +26,5 @@
"warningContent": "小心行人", "warningContent": "小心行人",
"heading": 30, "heading": 30,
"showTime": 3000, "showTime": 3000,
"roadwidth": 65.0 "roadwidth": 60.0
} }