Merge branch 'mm' into dev2_aiSdk

2021-05-11 11:14:26 +08:00
parent 179166850a b45b2ac598
commit fdafe4a7e8
8 changed files with 353 additions and 62 deletions
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java
@@ -1,20 +1,13 @@
 package com.mogo.module.v2x;

 import android.content.Context;
-import android.util.Log;
-
 import com.alibaba.android.arouter.launcher.ARouter;
-import com.mogo.map.MogoLatLng;
 import com.mogo.map.location.IMogoLocationClient;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.navi.IMogoNavi;
 import com.mogo.map.overlay.IMogoOverlayManager;
-import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.map.search.geo.IMogoGeoSearch;
 import com.mogo.map.uicontroller.IMogoMapUIController;
-import com.mogo.module.common.MogoApisHandler;
-import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
-import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.v2x.alarm.V2XCalculateServer;
 import com.mogo.module.v2x.manager.IMoGoPersonWarnPolylineManager;
 import com.mogo.module.v2x.manager.IMoGoStopPolylineManager;
@@ -23,10 +16,8 @@ import com.mogo.module.v2x.manager.IMoGoV2XMarkerManager;
 import com.mogo.module.v2x.manager.IMoGoV2XPolylineManager;
 import com.mogo.module.v2x.manager.IMoGoV2XStatusManager;
 import com.mogo.module.v2x.manager.IMoGoWarnPolylineManager;
-import com.mogo.module.v2x.manager.impl.MoGoV2XCloundDataManager;
 import com.mogo.module.v2x.network.V2XRefreshModel;
 import com.mogo.module.v2x.utils.V2XUtils;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.service.IMogoServiceApis;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.service.adas.IMogoADASController;
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
@@ -7,8 +7,6 @@ import android.util.Log;
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.map.MogoLatLng;
-import com.mogo.map.marker.IMogoMarker;
-import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.module.common.MogoApisHandler;
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/AdasDataBroadcastReceiver.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/AdasDataBroadcastReceiver.java
@@ -23,7 +23,7 @@ public class AdasDataBroadcastReceiver extends BroadcastReceiver {
 //            Logger.d(V2XConst.LOG_NAME_WARN, "AdasDataBroadcastReceiver -->" + GsonUtil.jsonFromObject(adasResult));
            String  adasResult = (String) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
            Log.d(V2XConst.LOG_NAME_WARN, "AdasDataBroadcastReceiver -----> ");
-            V2XWaringManager.getInstance().handleAdasData(intent);
+//            V2XWaringManager.getInstance().handleAdasData(intent);

        } catch (Exception e) {
            e.printStackTrace();
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/TestPanelBroadcastReceiver.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/TestPanelBroadcastReceiver.java
@@ -16,6 +16,7 @@ import com.mogo.module.v2x.V2XConst;
 import com.mogo.module.v2x.V2XServiceManager;
 import com.mogo.module.v2x.entity.net.V2XOptimalRouteDataRes;
 import com.mogo.module.v2x.entity.net.V2XSpecialCarRes;
+import com.mogo.module.v2x.scenario.impl.V2XScenarioManager;
 import com.mogo.module.v2x.scenario.scene.livecar.V2XVoiceCallLiveBiz;
 import com.mogo.module.v2x.utils.TestOnLineCarUtils;
 import com.mogo.module.v2x.utils.V2XSQLiteUtils;
@@ -76,17 +77,9 @@ public class TestPanelBroadcastReceiver extends BroadcastReceiver {
            intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
            LocalBroadcastManager.getInstance(mContext).sendBroadcast(intent);

-
            // 存储本地，出行动态作展示
            saveLocalStory(V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING,
                    v2XMessageEntity.getContent().getNoveltyInfo());
-        } else if (sceneType == 2) {//车路云—场景预警-V1.0 碰撞预警
-            V2XMessageEntity<V2XWarningEntity> v2XMessageEntity =
-                    TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData();
-
-            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 == 3) {//触发H5推送事件
            V2XMessageEntity<V2XPushMessageEntity> v2XMessageEntity =
                    TestOnLineCarUtils.getV2XScenarioPushEventData();
@@ -141,17 +134,21 @@ public class TestPanelBroadcastReceiver extends BroadcastReceiver {
            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
-            Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
-            intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "right");
+            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);
            mContext.sendBroadcast(intent);
        } else if (sceneType == 13) {//车路云场景预警-左侧
-            Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
-            intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "left");
-            mContext.sendBroadcast(intent);
+            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
-            Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
-            intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "pedestrians");
-            mContext.sendBroadcast(intent);
+            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 == 15) {// 交通状况查询
            V2XServiceManager.getIMogoTrafficUploadProvider().verifyCurrentTrafficStatus();
        } else if (sceneType == 16) {//触发基于目的地预测的线路推荐
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java
@@ -226,14 +226,14 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
        });

        //车路云—场景预警-V1.0 碰撞预警
-        mBtnTriggerWarningEvent.setOnClickListener(v -> {
-            V2XMessageEntity<V2XWarningEntity> v2XMessageEntity =
-                    TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData();
-
-            Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
-            intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
-            LocalBroadcastManager.getInstance(getContext()).sendBroadcast(intent);
-        });
+//        mBtnTriggerWarningEvent.setOnClickListener(v -> {
+//            V2XMessageEntity<V2XWarningEntity> v2XMessageEntity =
+//                    TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData("right");
+//
+//            Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
+//            intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
+//            LocalBroadcastManager.getInstance(getContext()).sendBroadcast(intent);
+//        });

        mBtnTriggerPushEvent.setOnClickListener(v -> {
            V2XMessageEntity<V2XPushMessageEntity> v2XMessageEntity =
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
@@ -48,7 +48,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV

    public V2XFrontWarningScenario() {
        setV2XWindow(new V2XWarningWindow());
-//        setV2XMarker(new V2XWarningMarker());
+        setV2XMarker(new V2XWarningMarker());
    }

    @Override
@@ -66,7 +66,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
                direction = mMarkerEntity.getDirection();
                MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(direction, MogoReceiver.ACTION_V2X_FRONT_WARNING);
                show();
-//                drawPOI();
+                drawPOI();
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -95,7 +95,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
                    .getMogoTopViewManager()
                    .addView(getV2XWindow().getView(), layoutParams, this);
            getV2XWindow().show(mMarkerEntity);
-//            getV2XMarker().drawPOI(mMarkerEntity);
+            getV2XMarker().drawPOI(mMarkerEntity);
        }
    }

--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
@@ -7,8 +7,10 @@ import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
+import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.drawer.MarkerDrawer;
+import com.mogo.module.common.drawer.V2XWarnDataDrawer;
 import com.mogo.module.common.drawer.marker.EmptyMarkerView;
 import com.mogo.module.common.drawer.marker.IMarkerView;
 import com.mogo.module.common.drawer.marker.MapMarkerAdapter;
@@ -17,10 +19,13 @@ import com.mogo.module.common.entity.MarkerLocation;
 import com.mogo.module.common.entity.MarkerShowEntity;
 import com.mogo.module.common.entity.V2XWarningEntity;
 import com.mogo.module.common.utils.Trigonometric;
+import com.mogo.module.service.MarkerServiceHandler;
+import com.mogo.module.service.receiver.MogoReceiver;
 import com.mogo.module.v2x.R;
 import com.mogo.module.v2x.V2XConst;
 import com.mogo.module.v2x.V2XServiceManager;
 import com.mogo.module.v2x.entity.model.DrawLineInfo;
+import com.mogo.module.v2x.listener.V2XLocationListener;
 import com.mogo.module.v2x.marker.OptimalSpeedMarkerView;
 import com.mogo.module.v2x.marker.V2XFrontTargetMarkerView;
 import com.mogo.module.v2x.scenario.view.IV2XMarker;
@@ -30,11 +35,15 @@ import com.mogo.utils.ViewUtils;
 import com.mogo.utils.WorkThreadHandler;

 import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.List;

 import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA;
+import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;
+import static com.mogo.module.common.entity.V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_TOP;
 import static com.mogo.module.v2x.V2XConst.V2X_FRONT_WARNING_MARKER;
 import static com.mogo.module.v2x.V2XConst.V2X_OPTIMAL_SPEED_MARKER;
+import static com.mogo.module.v2x.V2XServiceManager.getContext;

 /**
 * @author liujing
@@ -43,24 +52,41 @@ import static com.mogo.module.v2x.V2XConst.V2X_OPTIMAL_SPEED_MARKER;
 */
 public class V2XWarningMarker implements IV2XMarker {
    private static final String TAG = "V2XWarningMarker";
-    private V2XWarningEntity mMarkerEntity;
+    private static String WARNING_ARROWS = "WARNING_ARROWS";
+    private V2XWarningEntity mCloundWarningInfo;
    private MarkerShowEntity markerShowEntity = new MarkerShowEntity();
    private Context mContext = V2XServiceManager.getContext();
    private IMogoMarker optimalMarker = null;
+    private boolean isSelfLineClear = true;//绘制线是否已被清除
+    private List fillPoints = new ArrayList();//停止线经纬度合集
+    private boolean isFirstLocation = false;
+    private MogoLatLng carLocation = new MogoLatLng(
+            MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(),
+            MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon()
+    );
+
+    /*
+     * 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;
+    private V2XFrontWarningScenario mV2XScenario;
+
+    private static long showTime = 4000;
+    private float bearing;

    @Override
    public void drawPOI(Object entity) {
        try {
-            mMarkerEntity = (V2XWarningEntity) entity;
+            mCloundWarningInfo = (V2XWarningEntity) entity;
            MarkerLocation location = new MarkerLocation();
-            location.setLat(mMarkerEntity.getLat());
-            location.setLon(mMarkerEntity.getLon());
+            location.setLat(mCloundWarningInfo.getLat());
+            location.setLon(mCloundWarningInfo.getLon());

            markerShowEntity.setMarkerLocation(location);

            MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
-                    .latitude(mMarkerEntity.getLat())
-                    .longitude(mMarkerEntity.getLon())
+                    .latitude(mCloundWarningInfo.getLat())
+                    .longitude(mCloundWarningInfo.getLon())
                    .anchor(0.5f, 0.5f)
                    .zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH);
            optionsRipple
@@ -78,29 +104,287 @@ public class V2XWarningMarker implements IV2XMarker {

    }

+    public void drawLineWithEntity(V2XWarningEntity cloundWarningInfo) {
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+            mCloundWarningInfo = cloundWarningInfo;
+            showTime = mCloundWarningInfo.getShowTime();
+            pointsBetween();
+            bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();

-    @Override
-    public void clearPOI() {
-        V2XServiceManager.getMarkerManager().removeMarkers(V2X_FRONT_WARNING_MARKER);
+            //顶部弹框
+            if (mV2XScenario == null) {
+                mV2XScenario = new V2XFrontWarningScenario();
+            }
+            mV2XScenario.setWarningEntity(cloundWarningInfo);
+            mV2XScenario.init(null);
+            //预警蒙层
+            MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
+            isSelfLineClear = false;
+            isFirstLocation = false;
+            V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
+            if (cloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP) { //前方 TODO
+                middleLocationInStopLine = getMiddleLocationInStopLine();
+                //如果是正前方类型,红色绘制区域从停止线向前绘制50米
+                MogoLatLng warningLocation = Trigonometric.getNewLocation(middleLocationInStopLine, 50, cloundWarningInfo.getAngle());
+                //停止线前方画线
+                WorkThreadHandler.getInstance().postDelayed(() -> {
+                    //二轮车和行人的渲染和移动
+                    V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
+                    V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
+                    //绘制识别物与交汇点连线，并且更新连线数据
+                    drawRedWarningLineFrontOfStopLine(cloundWarningInfo, middleLocationInStopLine, warningLocation);
+                    //添加停止线marker
+                    handleStopLine();
+                    //自车画线
+                    drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
+                }, 500);
+
+                UiThreadHandler.postDelayed(() -> {
+                    V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
+                    V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+                    V2XServiceManager.getMoGoStopPolylineManager().clearLine();
+                    isSelfLineClear = true;
+                }, showTime);
+
+            } else { //左侧或者右侧
+                WorkThreadHandler.getInstance().postDelayed(() -> {
+                    //绘制识别物与交汇点连线，并且更新连线数据
+                    drawOtherObjectLine(cloundWarningInfo);
+                    //二轮车和行人的渲染和移动
+                    V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_WARN_DATA);
+                    V2XWarnDataDrawer.getInstance().renderWarnData(cloundWarningInfo);
+
+                    //车辆静止的时候
+                    drawSelfCarLine(carLocation.lon, carLocation.lat, bearing);
+
+                }, 500);
+
+                //延迟3秒清理线
+                UiThreadHandler.postDelayed(() -> {
+                    V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
+                    V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+                    isSelfLineClear = true;
+                }, showTime);
+            }
+        }
    }

-    public void clearLine() {
-        V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+    /**
+     * 场景如:车辆行驶正前方绘制红色区域(停止线继续前行的预警区域) TODO 需要实时给行人当前位置
+     */
+    private void drawRedWarningLineFrontOfStopLine(V2XWarningEntity info, MogoLatLng
+            startLatLng, MogoLatLng mogoLatLng) {
+        if (info != null) {
+            IMogoPolyline polyLine = V2XServiceManager.getMoGoStopPolylineManager().getMogoStopPolyline();
+            MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon);
+            float distance = CoordinateUtils.calculateLineDistance(startLatLng.lon, startLatLng.lat, endLatlng.lon, endLatlng.lat);
+            MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng, distance / 2, mCloundWarningInfo.getAngle());
+            Log.d(TAG, "红色区域起始点 = " + startLatLng.lon + "," + startLatLng.lat +
+                    "中间点坐标:" + addMiddleLoc.lon + "," + addMiddleLoc.lat
+                    + "终点" + endLatlng.lon + "," + endLatlng.lat);
+            if (polyLine != null) {
+                Log.d(V2XConst.LOG_NAME_WARN, "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.heading);
+                Log.d(V2XConst.LOG_NAME_WARN, "drawStopLine width = " + info.getRoadwidth());
+                lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
+                V2XServiceManager.getMoGoStopPolylineManager().drawStopPolyline(getContext(), lineInfo);
+            }
+        } else {
+            V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
+            V2XServiceManager.getMoGoStopPolylineManager().clearLine();
+        }
    }

+    /**
+     * 补点后的停止线经纬度合集
+     */
+    public void pointsBetween() {
+        try {
+            fillPoints.clear();
+            List stopLines = mCloundWarningInfo.getStopLines();
+            if (stopLines.size() > 1) {
+                MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
+                MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
+                //两点间的距离
+                float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
+                float average = distance / 3;
+                //两点间的角度
+                double angle = Trigonometric.getAngle(x.lon, x.lat, y.lon, y.lat);
+                //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, average * i, angle);
+                    fillPoints.add(newLocation);
+                }
+                fillPoints.add(y);
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    /*
+     * 停止线绘制
+     * */
+    private void handleStopLine() {
+        try {
+            if (mCloundWarningInfo != null) {
+                V2XServiceManager.getMarkerManager().removeMarkers(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
+                for (int i = 0; i < fillPoints.size(); i++) {
+                    V2XWarningEntity entity = new V2XWarningEntity();
+                    MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
+                    entity.setLat(latLng.lat);
+                    entity.setLon(latLng.lon);
+                    entity.heading = mCloundWarningInfo.heading;
+                    V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
+                }
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    private MogoLatLng getMogoLat(MogoLatLng latlng) {
+        MogoLatLng newLocation = Trigonometric.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
+        return newLocation;
+    }
+
+    /*
+     * 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 getMiddleLocationInStopLine() {
+        MogoLatLng newLocation = Trigonometric.getNewLocation(carLocation, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
+        return newLocation;
+    }
+
+    /**
+     * 自车为起点绘制(根据设计,前方行人/弱势交通参与者预警 getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP自车与停止线之间为蓝色预警;其他侧方预警自车与预碰撞点之间显示红色预警)
+     */
+    private void drawSelfCarLine(double lon, double lat, float bearing) {
+        if (!isSelfLineClear) {
+            IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
+            if (mCloundWarningInfo != null) {
+                MogoLatLng startLatlng = null;
+                MogoLatLng endLatlng = null;
+                MogoLatLng addMiddleLoc = null;
+
+                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(mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(),
+                        mCloundWarningInfo.getDirection() == ALERT_THE_FRONT_CRASH_WARNING_TOP ? middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
+                //自车位置
+                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, distance / 2, Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));
+                Log.d(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);
+
+                if (mogoPolyline != null) {
+                    mogoPolyline.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
+                    mogoPolyline.setTransparency(0.5f);
+                } else {
+                    DrawLineInfo info = new DrawLineInfo(); // 对象
+                    Log.d(TAG, "安全区域的画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
+                    List locations = new ArrayList();
+                    locations.add(startLatlng);
+                    locations.add(addMiddleLoc);
+                    locations.add(endLatlng);
+                    info.setLocations(locations);
+                    info.setHeading(bearing);
+                    info.setWidth(mCloundWarningInfo.getRoadwidth() * 14 + 5);
+                    info.setDirection(mCloundWarningInfo.getDirection());
+                    V2XServiceManager.getMoGoWarnPolylineManager().drawWarnPolyline(getContext(), info);
+                }
+            } else {
+                V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+            }
+        }
+    }
+
+    /**
+     * 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(V2XWarningEntity info) {
+        if (info != null) {
+            IMogoPolyline polyLine = V2XServiceManager.getMoGoPersonWarnPolylineManager().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, distance / 2,
+                    Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));//补点
+            if (polyLine != null) {
+                Log.d(V2XConst.LOG_NAME_WARN, "polyLine != null");
+                polyLine.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
+                polyLine.setTransparency(0.5f);
+            } else {
+                DrawLineInfo lineInfo = new DrawLineInfo();
+                Log.d(TAG, "目标物与预碰撞点画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
+                List locations = new ArrayList();
+                locations.add(startLatlng);
+                locations.add(addMiddleLoc);
+                locations.add(endLatlng);
+                lineInfo.setLocations(locations);
+                lineInfo.setHeading(info.heading);
+                Log.d(V2XConst.LOG_NAME_WARN, "drawOtherObjectLine width = " + info.getRoadwidth());
+                lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
+                V2XServiceManager.getMoGoPersonWarnPolylineManager().drawPersonWarnPolyline(getContext(), lineInfo);
+                //识别物到预碰撞点之间的箭头
+                addArrows(startLatlng, endLatlng);
+            }
+        } else {
+            Log.e(V2XConst.LOG_NAME_WARN, "info == null");
+            V2XServiceManager.getMoGoPersonWarnPolylineManager().clearLine();
+        }
+    }
+
+    //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);
+        Log.d(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, 5 * (i + 1), Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat));
+                Log.d(TAG, "小箭头位置" + newLo);
+                V2XWarnDataDrawer.getInstance().drawerArrowsMarkerWithLocation(newLo, WARNING_ARROWS, 10, new Double(rotate).intValue());
+            }
+        }
+        //延迟3秒清理线
+        UiThreadHandler.postDelayed(() -> {
+            V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
+        }, showTime);
+
+    }

    /*
     * 2D资源绘制停止线
     * */
    private void drawStopLineWith2Resource() {
-        MogoLatLng carlo = mMarkerEntity.getCarLocation();
+        MogoLatLng carlo = mCloundWarningInfo.getCarLocation();
        if (carlo == null) {
            double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon();
            double lat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat();
            carlo = new MogoLatLng(lat, lon);
        }
        //自车行驶方向的前方*米的经纬度,该经纬度在停止线上
-        MogoLatLng drawStopLineLon = Trigonometric.getNewLocation(carlo, mMarkerEntity.getStopLineDistance(), mMarkerEntity.getAngle());
+        MogoLatLng drawStopLineLon = Trigonometric.getNewLocation(carlo, mCloundWarningInfo.getStopLineDistance(), mCloundWarningInfo.getAngle());
        Log.d(TAG, "2D资源绘" + drawStopLineLon);
        MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
                .latitude(drawStopLineLon.getLat())
@@ -117,4 +401,14 @@ public class V2XWarningMarker implements IV2XMarker {
            stopLine.hideInfoWindow();
        }, 8000);
    }
+
+    @Override
+    public void clearPOI() {
+        V2XServiceManager.getMarkerManager().removeMarkers(V2X_FRONT_WARNING_MARKER);
+    }
+
+    public void clearLine() {
+        V2XServiceManager.getMoGoWarnPolylineManager().clearLine();
+    }
+
 }
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java
@@ -7,6 +7,7 @@ import com.mogo.module.common.entity.V2XPushMessageEntity;
 import com.mogo.module.common.entity.V2XRoadEventEntity;
 import com.mogo.module.common.entity.V2XWarningEntity;
 import com.mogo.module.v2x.R;
+import com.mogo.module.v2x.V2XServiceManager;
 import com.mogo.module.v2x.entity.net.V2XOptimalRouteDataRes;
 import com.mogo.module.v2x.entity.net.V2XSpecialCarRes;
 import com.mogo.utils.network.utils.GsonUtil;
@@ -158,11 +159,25 @@ public class TestOnLineCarUtils {
        return null;
    }

-    public static V2XMessageEntity<V2XWarningEntity> getV2XScenarioPushFrontWarningEventData() {
+    /**
+     * 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 = V2XUtils.getApp()
                    .getResources()
-                    .openRawResource(R.raw.scenario_warning_event_data_right);
+                    .openRawResource(id);
            ByteArrayOutputStream baos = new ByteArrayOutputStream();
            int len = -1;
            byte[] buffer = new byte[1024];
@@ -173,14 +188,10 @@ public class TestOnLineCarUtils {

            // 加载数据源
            V2XWarningEntity warningEntity = GsonUtil.objectFromJson(baos.toString(), V2XWarningEntity.class);
-            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(warningEntity);
-            // 控制展示状态
-            v2xMessageEntity.setShowState(true);
-            return v2xMessageEntity;
+            V2XMessageEntity messageEntity = new V2XMessageEntity();
+            messageEntity.setType(warningEntity.getDirection());
+            messageEntity.setContent(warningEntity);
+            return messageEntity;
        } catch (Exception e) {
            e.printStackTrace();
        }