diff --git a/config.gradle b/config.gradle index 60f5f6a454..3d32da21e1 100644 --- a/config.gradle +++ b/config.gradle @@ -172,7 +172,7 @@ ext { // obu sdk obusdk : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3", // mebulaobu : 'com.zhidao.support.nebulaobu:nebulaobu:1.0.0.3', - mogoobu : 'com.zhidao.support.obu:mogoobu:1.0.0.2', + mogoobu : 'com.zhidao.support.obu:mogoobu:1.0.0.5', // 左侧面板 moduleleftpanel : "com.mogo.module:module-left-panel:${MOGO_MODULE_LEFT_PANEL_VERSION}", diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java index 4be7165b8d..31b9cbde57 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java @@ -820,14 +820,6 @@ public class AMapViewWrapper implements IMogoMapView, // mSelfMarker.marker3DIcon(R.raw.qfpz); // isShowWarn = true; // } -// -// UiThreadHandler.postDelayed(() -> { -// if (!isShowWarn) { -// mSelfMarker.marker3DIcon(R.raw.qfpz); -// isShowWarn = true; -// } -// }, 6_000L); - } showSelfSpeed(location.getSpeed()); } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java index 11a23d8898..717fd95a44 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java @@ -5,6 +5,7 @@ import android.graphics.Rect; import android.os.Handler; import android.os.Message; import android.text.TextUtils; +import android.util.Log; import com.mogo.cloud.socket.entity.SocketDownData; import com.mogo.commons.AbsMogoApplication; @@ -13,6 +14,7 @@ import com.mogo.map.MogoLatLng; import com.mogo.map.marker.IMogoMarker; import com.mogo.map.marker.IMogoMarkerClickListener; import com.mogo.map.marker.IMogoMarkerManager; +import com.mogo.map.overlay.IMogoPolyline; import com.mogo.map.uicontroller.EnumMapUI; import com.mogo.module.common.ModuleNames; import com.mogo.module.common.api.CallChatApi; @@ -30,11 +32,13 @@ import com.mogo.module.common.entity.MarkerOnlineCar; import com.mogo.module.common.entity.MarkerResponse; import com.mogo.module.common.entity.MarkerShowEntity; import com.mogo.module.common.utils.CloudPoiManager; +import com.mogo.module.common.utils.Trigonometric; import com.mogo.module.service.MarkerServiceHandler; import com.mogo.module.service.R; import com.mogo.module.service.ServiceConst; import com.mogo.module.service.network.RefreshCallback; import com.mogo.module.service.network.RefreshModel; +import com.mogo.module.service.polyline.LimberCollisionPolyline; import com.mogo.realtime.api.MoGoAiCloudRealTime; import com.mogo.realtime.socket.IMogoCloudOnMsgListener; import com.mogo.service.adas.IMogoADASControlStatusChangedListener; @@ -53,6 +57,7 @@ import org.json.JSONException; import org.json.JSONObject; import java.util.ArrayList; +import java.util.Arrays; import java.util.HashMap; import java.util.List; import java.util.Map; @@ -163,11 +168,11 @@ public class MapMarkerManager implements IMogoMarkerClickListener, // msg.what = MSG_ADAS; // msg.sendToTarget(); AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(resultList); - + Logger.e("liyz", "addAdasRecognizedDataCallback ------> "); //添加自车的定位图标，碰撞只有一个预警,还需要和adas 联调， // for ( ADASRecognizedResult result : resultList) { -// if (result.drawlevel == 3) { //找出可能碰撞的车 -// Logger.d("liyz", "result.drawlevel == 3 ------> "); +// if (result.drawlevel == 3 || result.drawlevel == 1) { //找出可能碰撞的车 +// Logger.d("liyz", "result.drawlevel == 3 || ==1 ------> "); //// 绘制他车的线,从列表中查出可能碰撞的车的经纬度(没有或者只有一个)，然后预设20米的长度 //// 绘制碰撞的他车指引线，需要实时给数据更新 TODO // drawLimberCollisionPolyline(result); @@ -180,31 +185,31 @@ public class MapMarkerManager implements IMogoMarkerClickListener, } -// /** -// * 实时绘制连线 -// * -// * @param result -// */ -// private void drawLimberCollisionPolyline(ADASRecognizedResult result) { -// if (result != null) { -// IMogoPolyline polyLine = LimberCollisionPolyline.getInstance().getPolyLine(); -// MogoLatLng startLatLng = new MogoLatLng(result.lat, result.lon); -// MogoLatLng endLatlng = Trigonometric.getNewLocation(startLatLng, 20, result.heading); -// Log.d(TAG, "红色区域起始点 = " + startLatLng.lon + "," + startLatLng.lat -// + "终点" + endLatlng.lon + "," + endLatlng.lat + "--heading =" + result.heading); -// if (polyLine != null) { -// Log.d(TAG, "drawStopLine polyLine != null"); -// polyLine.setPoints(Arrays.asList(startLatLng, endLatlng)); -// } else { -// List latLngs = new ArrayList<>(); -// latLngs.add(startLatLng); -// latLngs.add(endLatlng); -// LimberCollisionPolyline.getInstance().draw((float) result.roadWidth, latLngs); -// } -// } else { -// LimberCollisionPolyline.getInstance().clearLine(); -// } -// } + /** + * 实时绘制连线 + * + * @param result + */ + private void drawLimberCollisionPolyline(ADASRecognizedResult result) { + if (result != null) { + IMogoPolyline polyLine = LimberCollisionPolyline.getInstance().getPolyLine(); + MogoLatLng startLatLng = new MogoLatLng(result.lat, result.lon); + MogoLatLng endLatlng = Trigonometric.getNewLocation(startLatLng, 20, result.heading); + Log.d(TAG, "红色区域起始点 = " + startLatLng.lon + "," + startLatLng.lat + + "终点" + endLatlng.lon + "," + endLatlng.lat + "--heading =" + result.heading); + if (polyLine != null) { + Log.d(TAG, "drawStopLine polyLine != null"); + polyLine.setPoints(Arrays.asList(startLatLng, endLatlng)); + } else { + List latLngs = new ArrayList<>(); + latLngs.add(startLatLng); + latLngs.add(endLatlng); + LimberCollisionPolyline.getInstance().draw((float) result.roadWidth, latLngs); + } + } else { + LimberCollisionPolyline.getInstance().clearLine(); + } + } // private final static int MSG_SNAPSHOT = 1; // private final static int MSG_ADAS = 2; diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java index 02b4309e98..4b94e69b3a 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java @@ -119,9 +119,8 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { MogoObuManager.getInstance().registerListener(mogoObuListener); //TODO 测试 -// MogoObuManager.getInstance().test(icw_data); - // UiThreadHandler.postDelayed( () -> { +// MogoObuManager.getInstance().test(icw_data); // MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(3, MogoReceiver.ACTION_V2X_FRONT_WARNING); // handleSdkObu(1); // @@ -201,26 +200,61 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { Logger.e("liyz", "onCvxV2vThreatIndInfo ------> " + info.toString()); //预警类型 threat_level 3 if (info != null) { - if (info.getThreat_info() != null && info.getControl() != null && + if (info.getThreat_info() != null /*&& info.getControl() != null*/ && info.getThreat_info().getThreat_level() == 3) { //看看2的情况 //预警方位 - int direction = V2XUtils.getDirection((float) info.getExt_info().getAzimuth()); - Log.d("liyz", "direction = " + direction + "---azimuth = " + (float) info.getExt_info().getAzimuth()); - MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(direction, MogoReceiver.ACTION_V2X_FRONT_WARNING); + int direction = info.getExt_info().getTarget_classification(); + Logger.d("liyz", "direction = " + direction + "----" + getMessage(direction)); + MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(getMessage(direction), MogoReceiver.ACTION_V2X_FRONT_WARNING); //处理预警类型 int appId = info.getThreat_info().getApp_id(); handleSdkObu(getEventType(appId)); } - //预警数据的组装，车辆实时移动和变色 TODO 这里需要obu提供他车列表 - AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(getResultList(info)); + //预警数据的组装，车辆实时移动和变色 TODO 这里需要obu提供他车列表 暂时不做 +// AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(getResultList(info)); } else { - Log.e("liyz", "info == null "); + Logger.e("liyz", "info == null "); } } }; + + private int getMessage(int targetClassification) { + switch (targetClassification) { + case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_IN_LANE: + case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_RIGHT: + case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_FAR_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_FAR_RIGHT: + return 1; + + case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_IN_LANE: + case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_RIGHT: + case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_FAR_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_FAR_RIGHT: + return 2; + + case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_IN_LANE: + case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_INTERSECTION_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_FAR_LEFT: + return 3; + + case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_RIGHT: + case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_FAR_RIGHT: + case ObuConstants.TARGET_CLASSIFICATION.TC_INTERSECTION_RIGHT: + return 4; + default: + case ObuConstants.TARGET_CLASSIFICATION.TC_UNCLASSIFIED: + return 1; + + } + } + + private int getEventType(int appid) { if (appid == ObuConstants.USE_CASE_ID.EBW) { return ObuConstant.TYPE_URGENCY_COLLISION_WARNING;