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[base_3.4.0-map-sdk]

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zhongchao
2023-08-18 18:42:12 +08:00
parent 10b5933c03
commit fc25630dc4
43 changed files with 644 additions and 790 deletions
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52
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
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@@ -18,9 +18,10 @@ import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst
import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerRemoveManager
import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road.V2XAiRoadEventMarker
import com.mogo.map.MogoMap
import com.mogo.map.MogoData.Companion.mogoMapData
import com.mogo.map.overlay.core.Level.ROAD_CENTER_LINE
import com.mogo.map.overlay.line.*
import com.zhidaoauto.map.data.road.CenterLine
import java.util.*
import java.util.concurrent.ConcurrentHashMap
import java.util.concurrent.atomic.AtomicReference
@@ -55,14 +56,19 @@ class AiRoadMarker {
}
private val v2nDrawHandler by lazy {
HandlerThread("v2n_draw_thread").let { it.start(); Handler(it.looper)}
HandlerThread("v2n_draw_thread").let { it.start(); Handler(it.looper) }
}
private val checkExpiredTask = Runnable {
val poi = this.marker.get()
val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
if (poi != null) {
val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
val distance = CoordinateUtils.calculateLineDistance(
car.longitude,
car.latitude,
poi.poi_lon,
poi.poi_lat
)
if (distance < 500) {
unMarker(poi)
}
@@ -70,7 +76,8 @@ class AiRoadMarker {
}
private val builder by lazy {
Polyline.Options.Builder(V2XConst.V2X_MARKER_OWNER, ROAD_CENTER_LINE).setIsGradient(true).setWidth(50f).setUseGps(true)
Polyline.Options.Builder(V2XConst.V2X_MARKER_OWNER, ROAD_CENTER_LINE).setIsGradient(true)
.setWidth(50f).setUseGps(true)
}
fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false) {
@@ -83,21 +90,33 @@ class AiRoadMarker {
}
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(
var l1: CenterLine? = null
mogoMapData.get().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
V2XBizTrace.onAck("$TAG --- marker --- 3 --- l1:", l1)
val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(
300f, call = { result ->
//施工中心点后方的自车行驶方向上300米距离
result?.let {
V2XBizTrace.onAck("$TAG --- marker --- 3 --- l1:", it)
l1 = result
}
})
var l2: CenterLine? = null
mogoMapData.get().getCenterLineRangeInfo(
marker.poi_lon,
marker.poi_lat,
location.heading.toFloat(),
-300f
)
if (l1.points.isEmpty() || l2.points.isEmpty()) {
-300f, call = { result ->
result?.let {
l2 = result
}
})
if (l1 == null || l2 == null) {
V2XBizTrace.onAck("$TAG --- marker --- 3 --- return ----", "")
return@post
}
if(l1.points.isEmpty() || l2.points.isEmpty()){
V2XBizTrace.onAck("$TAG --- marker --- 3 --- return ----", "")
return@post
}
@@ -202,7 +221,12 @@ class AiRoadMarker {
val poi = this.marker.get()
val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
if (poi != null) {
val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
val distance = CoordinateUtils.calculateLineDistance(
car.longitude,
car.latitude,
poi.poi_lon,
poi.poi_lat
)
V2XBizTrace.onAck(
"$TAG --- receive --- 2 ---",
"car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance"