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add socket to invoke

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This commit is contained in:
zhongchao
2021-01-22 17:01:56 +08:00
parent 39d301b531
commit 07fba4036c
9 changed files with 191 additions and 82 deletions
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62
modules/mogo-realtime/src/main/java/com/mogo/realtime/constant/SimpleLocationCorrectStrategy.java
View File

@@ -27,21 +27,21 @@ public class SimpleLocationCorrectStrategy {
private long anchorTime;
private int errCount;
private static SimpleLocationCorrectStrategy instance = new SimpleLocationCorrectStrategy();
private final static SimpleLocationCorrectStrategy instance = new SimpleLocationCorrectStrategy();
public static SimpleLocationCorrectStrategy getInstance(){
public static SimpleLocationCorrectStrategy getInstance() {
return instance;
}
private List<CloudLocationInfo> historyList = new ArrayList<>();
private List<CloudLocationInfo> validList = new ArrayList<>();
private List<CloudLocationInfo> correctList = new ArrayList<>();
private List<CloudLocationInfo> errList = new ArrayList<>();
private final List<CloudLocationInfo> historyList = new ArrayList<>();
private final List<CloudLocationInfo> validList = new ArrayList<>();
private final List<CloudLocationInfo> correctList = new ArrayList<>();
private final List<CloudLocationInfo> errList = new ArrayList<>();
public CloudLocationInfo correct(CloudLocationInfo info) {
Logger.d(TAG, "info: " + info.print());
if(isLocationValid(info)) {
if(recordLocation()) {
if (isLocationValid(info)) {
if (recordLocation()) {
historyList.add(info);
}
@@ -49,7 +49,7 @@ public class SimpleLocationCorrectStrategy {
lastLocation = info;
anchorTime = SystemClock.elapsedRealtime();
Logger.d(TAG, "第一条数据");
if(recordLocation()) {
if (recordLocation()) {
validList.add(lastLocation);
}
return info;
@@ -70,7 +70,7 @@ public class SimpleLocationCorrectStrategy {
anchorTime = SystemClock.elapsedRealtime();
errCount = 0;
Logger.d(TAG, "在范围内，为有效点");
if(recordLocation()) {
if (recordLocation()) {
validList.add(lastLocation);
}
return info;
@@ -78,7 +78,7 @@ public class SimpleLocationCorrectStrategy {
// 出现异常点
if (errCount >= ERR_COUNT_THRESHOLD) {
// 出错次数超过阈值，认为本次出错点为正确点
if(recordLocation()) {
if (recordLocation()) {
errList.add(new CloudLocationInfo(lastLocation));
correctList.add(info);
}
@@ -94,7 +94,7 @@ public class SimpleLocationCorrectStrategy {
lastLocation.getLat(), lastLocation.getHeading(), targetDistance);
nextInfo.setLon(nextLatLon.lon);
nextInfo.setLat(nextLatLon.lat);
if(recordLocation()) {
if (recordLocation()) {
errList.add(info);
correctList.add(nextInfo);
}
@@ -103,7 +103,7 @@ public class SimpleLocationCorrectStrategy {
errCount++;
Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
// return lastLocation;
if(recordLocation()) {
if (recordLocation()) {
correctList.add(nextInfo);
}
return nextInfo;
@@ -113,11 +113,11 @@ public class SimpleLocationCorrectStrategy {
Logger.e(TAG, e, "纠偏异常");
e.printStackTrace();
}
}else{
} else {
Logger.d(TAG, "定位点异常");
if (lastLocation == null) {
return null;
}else{
} else {
try {
float targetDistance =
(float) (lastLocation.getSpeed() * (SystemClock.elapsedRealtime() - anchorTime) / 1000) + TARGET_DISTANCE_DEVIATION;
@@ -130,7 +130,7 @@ public class SimpleLocationCorrectStrategy {
lastLocation.getLat(), lastLocation.getHeading(), targetDistance);
nextInfo.setLon(nextLatLon.lon);
nextInfo.setLat(nextLatLon.lat);
if(recordLocation()) {
if (recordLocation()) {
errList.add(info);
correctList.add(nextInfo);
}
@@ -138,12 +138,12 @@ public class SimpleLocationCorrectStrategy {
anchorTime = SystemClock.elapsedRealtime();
errCount++;
Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
if(recordLocation()) {
if (recordLocation()) {
correctList.add(nextInfo);
}
// return lastLocation;
return nextInfo;
}catch (Exception e){
} catch (Exception e) {
Logger.e(TAG, e, "纠偏异常");
e.printStackTrace();
}
@@ -157,16 +157,16 @@ public class SimpleLocationCorrectStrategy {
}
private RecordLocationListener recordLocationListener = null;
private boolean hasCallbackReocrd = false;
private boolean hasCallbackRecord = false;
public void setRecordLocationListener(RecordLocationListener recordLocationListener) {
this.recordLocationListener = recordLocationListener;
}
private boolean recordLocation(){
if (historyList.size() >= 100 && !hasCallbackReocrd && recordLocationListener != null) {
hasCallbackReocrd = true;
recordLocationListener.onRecordFinish(historyList, correctList,validList,correctList);
private boolean recordLocation() {
if (historyList.size() >= 100 && !hasCallbackRecord && recordLocationListener != null) {
hasCallbackRecord = true;
recordLocationListener.onRecordFinish(historyList, correctList, validList, correctList);
}
return historyList.size() < 100;
}
@@ -198,9 +198,9 @@ public class SimpleLocationCorrectStrategy {
double A = 1 + uSq / 16384 * (4096 + uSq * (-768 + uSq * (320 - 175 * uSq)));
double B = uSq / 1024 * (256 + uSq * (-128 + uSq * (74 - 47 * uSq)));
double cos2SigmaM=0;
double sinSigma=0;
double cosSigma=0;
double cos2SigmaM = 0;
double sinSigma = 0;
double cosSigma = 0;
double sigma = dist / (b * A), sigmaP = 2 * Math.PI;
while (Math.abs(sigma - sigmaP) > 1e-12) {
cos2SigmaM = Math.cos(2 * sigma1 + sigma);
@@ -224,15 +224,14 @@ public class SimpleLocationCorrectStrategy {
double revAz = Math.atan2(sinAlpha, -tmp);
System.out.println(revAz);
System.out.println(lon+deg(L)+","+deg(lat2));
System.out.println(lon + deg(L) + "," + deg(lat2));
return new MogoLatLng(deg(lat2), lon + deg(L));
}
/**
* 度换成弧度
*
* @param d
* 度
* @param d 度
* @return 弧度
*/
private double rad(double d) {
@@ -242,15 +241,14 @@ public class SimpleLocationCorrectStrategy {
/**
* 弧度换成度
*
* @param x
* 弧度
* @param x 弧度
* @return 度
*/
private double deg(double x) {
return x * 180 / Math.PI;
}
public interface RecordLocationListener{
public interface RecordLocationListener {
void onRecordFinish(List<CloudLocationInfo> history, List<CloudLocationInfo> correct, List<CloudLocationInfo> valid, List<CloudLocationInfo> err);
}
}

83
modules/mogo-realtime/src/main/java/com/mogo/realtime/constant/SnapshotUploadInTime.java
View File

@@ -1,20 +1,28 @@
package com.mogo.realtime.constant;
import android.content.Context;
import android.os.SystemClock;
import android.util.Log;
import com.mogo.cloud.passport.MoGoAiCloudClient;
import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener;
import com.mogo.cloud.socket.MsgBody;
import com.mogo.cloud.socket.SocketManager;
import com.mogo.realtime.Interface.RealTimeApisHandler;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.realtime.entity.WebSocketData;
import com.mogo.realtime.location.LocationResult;
import com.mogo.realtime.location.MogoRTKLocation;
import com.mogo.realtime.entity.OnePerSecondSendContent;
import com.mogo.realtime.util.MortonCode;
import com.mogo.utils.network.utils.GsonUtil;
import java.util.ArrayList;
import java.util.List;
import static com.mogo.realtime.connect.WebSocketMsgType.MSG_TYPE_ACK;
/**
* @author congtaowang
* @since 2020/12/14
@@ -27,6 +35,8 @@ public class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener
private static volatile SnapshotUploadInTime sInstance;
private Context mContext;
private long serverTime = 0;
private long receiveMsgTime = 0;
private SnapshotUploadInTime() {
}
@@ -54,11 +64,40 @@ public class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener
public void start(Context context) {
mContext = context.getApplicationContext();
MogoRTKLocation.getInstance().registerRTKLocationListener(this);
//todo
SocketManager.getInstance().init(context,"com.mogo.launcher");
SocketManager.getInstance().registerOnMessageListener(0x040002,onMessageListener);
SocketManager.getInstance().registerOnMessageListener(0x040003,onMessageListener);
}
private final IMogoCloudSocketOnMessageListener<String> onMessageListener = new IMogoCloudSocketOnMessageListener<String>() {
@Override
public Class<String> target() {
return String.class;
}
@Override
public void onMsgReceived(String message) {
WebSocketData webSocketData = GsonUtil.objectFromJson(message, WebSocketData.class);
int msgType = webSocketData.getMsgType();
if (msgType == MSG_TYPE_ACK.getMsgType()) {
if (webSocketData.getUtcTime() > 0) {
serverTime = webSocketData.getUtcTime();
receiveMsgTime = SystemClock.elapsedRealtime();
if (webSocketData.getUpUtcTime() > 0) {
long nextDelay = webSocketData.getUpUtcTime() - serverTime;
MogoRTKLocation.getInstance().resetUploadDelay(nextDelay);
}
}
}
}
};
public void stop() {
MogoRTKLocation.getInstance().unregisterRTKLocationListener();
MogoRTKLocation.getInstance().stop();
SocketManager.getInstance().unregisterOnMessageListener(0x040002,onMessageListener);
SocketManager.getInstance().unregisterOnMessageListener(0x040003,onMessageListener);
}
@Override
@@ -101,7 +140,49 @@ public class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener
Log.d(TAG, "no information 2 sent");
return;
}
//todo 发送socket msg
//发送socket msg
WebSocketData webSocketData = new WebSocketData();
webSocketData.setSeq(computeSendMsgTime());
webSocketData.setSn(MoGoAiCloudClient.getInstance().getAiCloudClientConfig().getSn());
webSocketData.setData(GsonUtil.jsonFromObject(content));
// MogoLocation lastKnown = MogoApisHandler.getInstance().getApis().getMapServiceApi()
// .getSingletonLocationClient(mContext)
// .getLastKnowLocation();
// if (lastKnown != null && !lastKnown.getCityCode().isEmpty()) {
// webSocketData.setCityCode(lastKnown.getCityCode());
// } else {
// webSocketData.setCityCode(null);
// }
String msg = GsonUtil.jsonFromObject(webSocketData);
int msgType = 0x040003; //低频数据
if (cloudLocationInfo.size() > 2) {
msgType = 0x040002; //高频数据
}
MsgBody msgBody = new MsgBody();
msgBody.msgType(msgType);
msgBody.content(msg);
SocketManager.getInstance().sendMsg(msgBody,msgId -> {
});
}
/**
* 服务端会在ack数据中增加服务端的时间戳{@link #serverTime}, 收到消息时，记录收到消息的时间{@link #receiveMsgTime}，收消息的时间用{@link SystemClock#elapsedRealtime()}可以避免系统时间改变造成的影响
* 在发送数据时，使用serverTime+(elapseRealtime()-receiveMsgTime)计算发送数据时的时间戳，这个时间戳是基本相对服务端的时间戳为基准的时间，忽略了ack下发时的时间延迟
* <p>
* 如果{@link #serverTime}或{@link #receiveMsgTime}数据有异常，则使用{@link System#currentTimeMillis()}当做当前时间，作为容错
*
* @return 基本相对服务端的时间戳为基准的时间
*/
private long computeSendMsgTime() {
long sendMsgTime;
if (serverTime > 0 && receiveMsgTime > 0) {
sendMsgTime = serverTime + (SystemClock.elapsedRealtime() - receiveMsgTime);
} else {
sendMsgTime = System.currentTimeMillis();
}
return sendMsgTime;
}
}

2
modules/mogo-realtime/src/main/java/com/mogo/realtime/entity/LocationResult.java
View File

@@ -4,7 +4,7 @@ package com.mogo.realtime.entity;
import java.util.List;
public
/**
/*
* @author congtaowang
* @since 2020/10/25
*

76
modules/mogo-realtime/src/main/java/com/mogo/realtime/entity/WebSocketData.java Normal file
View File

@@ -0,0 +1,76 @@
package com.mogo.realtime.entity;
import java.io.Serializable;
public class WebSocketData implements Serializable {
private long seq;
private int msgType;
private String sn;
private String data;
private long utcTime;
private long upUtcTime;
private String cityCode;
public long getSeq() {
return seq;
}
public void setSeq(long seq) {
this.seq = seq;
}
public int getMsgType() {
return msgType;
}
public void setMsgType(int msgType) {
this.msgType = msgType;
}
public String getSn() {
return sn;
}
public void setSn(String sn) {
this.sn = sn;
}
public String getData() {
return data;
}
public void setData(String data) {
this.data = data;
}
public long getUtcTime() {
return utcTime;
}
public void setUtcTime(long utcTime) {
this.utcTime = utcTime;
}
public long getUpUtcTime() {
return upUtcTime;
}
public void setUpUtcTime(long upUtcTime) {
this.upUtcTime = upUtcTime;
}
public String getCityCode() {
return cityCode;
}
public void setCityCode(String cityCode) {
this.cityCode = cityCode;
}
}