yangyakun921/MoGoAiCloudSdk
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

pull code of origin

Browse Source
This commit is contained in:
zhongchao
2021-02-22 11:33:02 +08:00
parent ca8a1b4593 17b3ed341e
commit f79858f0df
136 changed files with 8666 additions and 342 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
modules/mogo-realtime/src/main/java/com/mogo/realtime/Interface/IRealTimeProvider.java → modules/mogo-realtime/src/main/java/com/mogo/realtime/api/IRealTimeProvider.java
View File

@@ -1,4 +1,4 @@
package com.mogo.realtime.Interface;
package com.mogo.realtime.api;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudLocationInfo;

2
modules/mogo-realtime/src/main/java/com/mogo/realtime/Interface/MoGoAiCloudRealTime.java → modules/mogo-realtime/src/main/java/com/mogo/realtime/api/MoGoAiCloudRealTime.java
View File

@@ -1,4 +1,4 @@
package com.mogo.realtime.Interface;
package com.mogo.realtime.api;
import android.content.Context;

6
modules/mogo-realtime/src/main/java/com/mogo/realtime/constant/RealTimeConstant.java Normal file
View File

@@ -0,0 +1,6 @@
package com.mogo.realtime.constant;
public class RealTimeConstant {
public static final String TAG = "MoGoAiCloud_RealTime";
}

57
modules/mogo-realtime/src/main/java/com/mogo/realtime/core/SimpleLocationCorrectStrategy.java
View File

@@ -1,10 +1,10 @@
package com.mogo.realtime.core;
import android.os.SystemClock;
import androidx.annotation.Keep;
import android.support.annotation.Keep;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.cloud.passport.MoGoAiCloudClient;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.realtime.util.MogoLatLng;
import com.mogo.utils.logger.Logger;
@@ -39,7 +39,9 @@ public class SimpleLocationCorrectStrategy {
private final List<CloudLocationInfo> errList = new ArrayList<>();
public CloudLocationInfo correct(CloudLocationInfo info) {
Logger.d(TAG, "info: " + info.print());
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.d(TAG, "info: " + info.print());
}
if (isLocationValid(info)) {
if (recordLocation()) {
historyList.add(info);
@@ -48,29 +50,36 @@ public class SimpleLocationCorrectStrategy {
if (lastLocation == null) {
lastLocation = info;
anchorTime = SystemClock.elapsedRealtime();
Logger.d(TAG, "第一条数据");
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.d(TAG, "第一条数据");
}
if (recordLocation()) {
validList.add(lastLocation);
}
return info;
}
if (lastLocation.equals(info)) {
Logger.d(TAG, "相同坐标点==");
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.d(TAG, "相同坐标点==");
}
return info;
}
try {
float targetDistance =
(float) (lastLocation.getSpeed() * (SystemClock.elapsedRealtime() - anchorTime) / 1000) + TARGET_DISTANCE_DEVIATION;
float distance = CoordinateUtils.calculateLineDistance(lastLocation.getLon(), lastLocation.getLat(), info.getLon(), info.getLat());
Logger.d(TAG,
"准备计算{ lastInfo: " + lastLocation.print() + " info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.d(TAG,
"准备计算{ lastInfo: " + lastLocation.print() + " info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
}
if (distance <= targetDistance) {
// 新的定位点在目标距离范围内，认为此数据有效
lastLocation = info;
anchorTime = SystemClock.elapsedRealtime();
errCount = 0;
Logger.d(TAG, "在范围内，为有效点");
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.d(TAG, "在范围内，为有效点");
}
if (recordLocation()) {
validList.add(lastLocation);
}
@@ -86,7 +95,9 @@ public class SimpleLocationCorrectStrategy {
lastLocation = info;
anchorTime = SystemClock.elapsedRealtime();
errCount = 0;
Logger.d(TAG, "出错次数超限，异常点变有效点");
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.d(TAG, "出错次数超限，异常点变有效点");
}
return info;
} else {
// 按照上一个点的方向和速度，计算下一个点的位置，下一个点除坐标点外，其余数据与上一个点相同
@@ -102,7 +113,9 @@ public class SimpleLocationCorrectStrategy {
lastLocation = nextInfo;
anchorTime = SystemClock.elapsedRealtime();
errCount++;
Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
}
if (recordLocation()) {
correctList.add(nextInfo);
}
@@ -110,11 +123,15 @@ public class SimpleLocationCorrectStrategy {
}
}
} catch (Exception e) {
Logger.e(TAG, e, "纠偏异常");
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.e(TAG, e, "纠偏异常");
}
e.printStackTrace();
}
} else {
Logger.d(TAG, "定位点异常");
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.d(TAG, "定位点异常");
}
if (lastLocation == null) {
return null;
} else {
@@ -122,8 +139,10 @@ public class SimpleLocationCorrectStrategy {
float targetDistance =
(float) (lastLocation.getSpeed() * (SystemClock.elapsedRealtime() - anchorTime) / 1000) + TARGET_DISTANCE_DEVIATION;
float distance = CoordinateUtils.calculateLineDistance(lastLocation.getLon(), lastLocation.getLat(), info.getLon(), info.getLat());
Logger.d(TAG,
"异常定位点\n准备计算{ lastInfo: " + lastLocation.print() + " info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.d(TAG,
"异常定位点\n准备计算{ lastInfo: " + lastLocation.print() + " info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
}
// 按照上一个点的方向和速度，计算下一个点的位置，下一个点除坐标点外，其余数据与上一个点相同
CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
MogoLatLng nextLatLon = computerThatLonLat(lastLocation.getLon(),
@@ -137,13 +156,17 @@ public class SimpleLocationCorrectStrategy {
lastLocation = nextInfo;
anchorTime = SystemClock.elapsedRealtime();
errCount++;
Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
}
if (recordLocation()) {
correctList.add(nextInfo);
}
return nextInfo;
} catch (Exception e) {
Logger.e(TAG, e, "纠偏异常");
if (MoGoAiCloudClient.getInstance().getAiCloudClientConfig().isShowDebugLog()) {
Logger.e(TAG, e, "纠偏异常");
}
e.printStackTrace();
}
}

3
modules/mogo-realtime/src/main/java/com/mogo/realtime/core/SnapshotUploadInTime.java
View File

@@ -12,10 +12,9 @@ import com.mogo.realtime.socket.SocketHandler;
*/
public class SnapshotUploadInTime implements UploadInTimeHandler.IUploadInTimeListener {
private static final String TAG = "SnapshotUploadInTime";
private static volatile SnapshotUploadInTime sInstance;
//是否使用外部定位数据
private boolean isUseExternalLocation = false;
private final boolean isUseExternalLocation;
private SnapshotUploadInTime() {
isUseExternalLocation = MoGoAiCloudClient.getInstance().getAiCloudClientConfig().getIsUseExternalLocation();

6
modules/mogo-realtime/src/main/java/com/mogo/realtime/core/UploadInTimeHandler.java
View File

@@ -2,17 +2,17 @@ package com.mogo.realtime.core;
import android.os.Handler;
import android.os.Message;
import androidx.annotation.Keep;
import android.support.annotation.Keep;
import com.mogo.utils.WorkThreadHandler;
import static com.mogo.realtime.constant.RealTimeConstant.TAG;
/**
* AI云 实时上报数据频率处理类
*/
public class UploadInTimeHandler {
private static final String TAG = "UploadInTimeHandler";
private static final int MSG_DATA_CHANGED = 0x100;
private static final long MSG_DATA_INTERNAL = 500L;
private final long uploadDelay = MSG_DATA_INTERNAL;

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

@@ -3,7 +3,7 @@ package com.mogo.realtime.entity;
import android.os.Build;
import android.os.Parcel;
import android.os.Parcelable;
import androidx.annotation.RequiresApi;
import android.support.annotation.RequiresApi;
import com.mogo.cloud.commons.utils.CoordinateUtils;

17
modules/mogo-realtime/src/main/java/com/mogo/realtime/location/MogoRTKLocation.java
View File

@@ -14,15 +14,16 @@ import com.mogo.utils.logger.Logger;
import java.util.ArrayList;
import java.util.List;
import static com.mogo.realtime.constant.RealTimeConstant.TAG;
/**
* AI云SDK内部定位服务
*/
public class MogoRTKLocation {
private static final String TAG = "MogoRTKLocation";
private LocationManager locationManager;
private final List<CloudLocationInfo> cacheList = new ArrayList<>();
private CloudLocationInfo locInfo;
public static MogoRTKLocation getInstance() {
return RTKHolder.rtkLoc;
@@ -38,7 +39,14 @@ public class MogoRTKLocation {
public List<CloudLocationInfo> sendLocationData() {
List<CloudLocationInfo> list = new ArrayList<>(cacheList);
if (cacheList != null && cacheList.size() > 0) {
if (cacheList.size() == 0) {
if (locInfo != null) {
cacheList.add(locInfo);
} else {
Logger.e(TAG, "暂无定位数据");
return list;
}
} else {
cacheList.clear();
}
return list;
@@ -78,7 +86,7 @@ public class MogoRTKLocation {
return criteria;
}
private LocationListener locationListener = new LocationListener() {
private final LocationListener locationListener = new LocationListener() {
@Override
public void onLocationChanged(Location location) {
if (location != null) {
@@ -91,6 +99,7 @@ public class MogoRTKLocation {
cloudLocationInfo.setSatelliteTime(location.getTime());
cloudLocationInfo.setSystemTime(System.currentTimeMillis());
cloudLocationInfo.convertCoor2GCJ02();
locInfo = cloudLocationInfo;
cacheList.add(cloudLocationInfo);
} else {
Logger.e(TAG, "location == null");

46
modules/mogo-realtime/src/main/java/com/mogo/realtime/socket/SocketHandler.java
View File

@@ -2,7 +2,6 @@ package com.mogo.realtime.socket;
import android.content.Context;
import android.os.SystemClock;
import android.util.Log;
import com.mogo.cloud.passport.MoGoAiCloudClient;
import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener;
@@ -17,7 +16,9 @@ import com.mogo.realtime.entity.MogoSnapshotSetData;
import com.mogo.realtime.entity.OnePerSecondSendContent;
import com.mogo.realtime.spi.RealTimeProviderImp;
import com.mogo.realtime.util.MortonCode;
import com.mogo.utils.network.utils.GsonUtil;
import com.mogo.utils.GsonUtil;
import com.mogo.utils.logger.Logger;
import com.zhidao.ptech.connsvr.protocol.MogoConnsvr;
import java.util.ArrayList;
import java.util.List;
@@ -25,15 +26,19 @@ import java.util.List;
import static com.mogo.cloud.socket.WebSocketMsgType.MSG_TYPE_ACK;
import static com.mogo.cloud.socket.WebSocketMsgType.MSG_TYPE_DOWNLINK_CAR_DATA;
import static com.mogo.cloud.socket.WebSocketMsgType.MSG_TYPE_UPLINK_CAR_DATA;
import static com.mogo.realtime.constant.RealTimeConstant.TAG;
/**
* Socket长链 业务服务处理类
*/
public class SocketHandler {
private static final String TAG = "SocketHandler";
private static volatile SocketHandler mInstance;
private static final int HEADER_TYPE = MogoConnsvr.MsgType.mogoMsgTypeCollectSvrNoRspReq.getNumber();
private static final int HIGH_FREQUENCY_CHANNEL_ID = 0x040002; //高频数据
private static final int LOW_FREQUENCY_CHANNEL_ID = 0x040003; //低频数据
private String mAppId;
private long serverTime = 0;
private long receiveMsgTime = 0;
private CloudLocationInfo mLastInfo;
@@ -58,12 +63,10 @@ public class SocketHandler {
* @param appId 外部传入
*/
public void initSocket(Context context, String appId) {
SocketManager.getInstance().init(context, appId);
int msgType = 0x040003;
Log.i(TAG,"msgType : " + msgType);
Log.i(TAG,"msgType integer : " + (Integer)msgType);
SocketManager.getInstance().registerOnMessageListener(0x040002, onMessageListener);
SocketManager.getInstance().registerOnMessageListener(0x040003, onMessageListener);
mAppId = appId;
SocketManager.getInstance().init(context);
SocketManager.getInstance().registerOnMessageListener(HIGH_FREQUENCY_CHANNEL_ID, onMessageListener);
SocketManager.getInstance().registerOnMessageListener(LOW_FREQUENCY_CHANNEL_ID, onMessageListener);
}
public void registerOnMsgListener(IMogoCloudOnMsgListener onMsgListener) {
@@ -99,11 +102,9 @@ public class SocketHandler {
receiveMsgTime = SystemClock.elapsedRealtime();
if (webSocketData.getUpUtcTime() > 0) {
long nextDelay = webSocketData.getUpUtcTime() - serverTime;
if (!MoGoAiCloudClient.getInstance().getAiCloudClientConfig().getIsUseExternalLocation()) {
for (IMogoCloudOnAckListener ackListener : onAckListenerList) {
if (ackListener != null) {
ackListener.onAck(nextDelay);
}
for (IMogoCloudOnAckListener ackListener : onAckListenerList) {
if (ackListener != null) {
ackListener.onAck(nextDelay);
}
}
}
@@ -112,7 +113,7 @@ public class SocketHandler {
if (msgType == MSG_TYPE_DOWNLINK_CAR_DATA.getMsgType()) {
MogoSnapshotSetData data = GsonUtil.objectFromJson(webSocketData.getData(), MogoSnapshotSetData.class);
if (data == null) {
Log.e(TAG, "onMsgReceived MogoSnapshotSetData == null ");
Logger.e(TAG, "onMsgReceived MogoSnapshotSetData == null ");
return;
}
for (IMogoCloudOnMsgListener listener : onMsgListenerList) {
@@ -126,11 +127,12 @@ public class SocketHandler {
/**
* 发送自车和ADAS数据
*
* @param cloudLocationInfo 自车定位信息
*/
public void sendMsg(List<CloudLocationInfo> cloudLocationInfo) {
if (cloudLocationInfo == null) {
Log.e(TAG, "请检查传入数组对象为Null");
Logger.e(TAG, "请检查传入数组对象为Null");
return;
}
CloudLocationInfo lastInfo = null;
@@ -162,7 +164,7 @@ public class SocketHandler {
if (content.self == null &&
(content.adas == null || content.adas.isEmpty())) {
Log.d(TAG, "no information to sent");
Logger.d(TAG, "no information to sent");
return;
}
@@ -173,14 +175,14 @@ public class SocketHandler {
webSocketData.setData(GsonUtil.jsonFromObject(content));
String msg = GsonUtil.jsonFromObject(webSocketData);
int msgType = 0x040003; //低频数据
int msgType = LOW_FREQUENCY_CHANNEL_ID;
if (cloudLocationInfo.size() > 2) {
msgType = 0x040002; //高频数据
msgType = HIGH_FREQUENCY_CHANNEL_ID;
}
MsgBody msgBody = new MsgBody();
msgBody.msgType(msgType);
msgBody.content(msg);
SocketManager.getInstance().sendMsg(msgBody, msgId -> {
SocketManager.getInstance().sendMsg(mAppId, HEADER_TYPE, msgBody, msgId -> {
for (IMogoCloudOnMsgListener listener : onMsgListenerList) {
if (listener != null) {
listener.onMsgSend(msgId);
@@ -190,8 +192,8 @@ public class SocketHandler {
}
public void stop() {
SocketManager.getInstance().unregisterOnMessageListener(0x040002, onMessageListener);
SocketManager.getInstance().unregisterOnMessageListener(0x040003, onMessageListener);
SocketManager.getInstance().unregisterOnMessageListener(HIGH_FREQUENCY_CHANNEL_ID, onMessageListener);
SocketManager.getInstance().unregisterOnMessageListener(LOW_FREQUENCY_CHANNEL_ID, onMessageListener);
SocketManager.getInstance().release();
onMsgListenerList.clear();
onAckListenerList.clear();

4
modules/mogo-realtime/src/main/java/com/mogo/realtime/spi/RealTimeProviderDelegateManager.java
View File

@@ -3,8 +3,12 @@ package com.mogo.realtime.spi;
import com.elegant.spi.AbstractDelegateManager;
import com.mogo.cloud.passport.MoGoAiCloudClient;
<<<<<<< HEAD
import com.mogo.realtime.Interface.IRealTimeProvider;
import com.mogo.utils.logger.Logger;
=======
import com.mogo.realtime.api.IRealTimeProvider;
>>>>>>> 17b3ed341e822ad073ace72a78b08f26214c0059
/**
* 提供RealTime SPI接口实例对象管理类

2
modules/mogo-realtime/src/main/java/com/mogo/realtime/spi/RealTimeProviderImp.java
View File

@@ -1,6 +1,6 @@
package com.mogo.realtime.spi;
import com.mogo.realtime.Interface.IRealTimeProvider;
import com.mogo.realtime.api.IRealTimeProvider;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.utils.logger.Logger;

40
modules/mogo-realtime/src/main/java/com/mogo/realtime/util/LocationParseUtil.java
View File

@@ -1,40 +0,0 @@
package com.mogo.realtime.util;
import android.location.Location;
import com.mogo.realtime.entity.CloudLocationInfo;
/**
* 定位数据类型转换工具
*
* @author tongchenfei
*/
public class LocationParseUtil {
/**
* 从Location 转 CloudLocationInfo
*
* @param info 待转数据
* @return 转后数据
*/
public static CloudLocationInfo locationToCloudLocation(Location info) {
if (info == null) {
return null;
}
CloudLocationInfo cloud = new CloudLocationInfo();
cloud.setLat(info.getLatitude());
cloud.setLon(info.getLongitude());
cloud.setAlt(info.getAltitude());
cloud.setHeading(info.getBearing());
cloud.setSpeed(info.getSpeed());
cloud.setSatelliteTime(info.getTime());
cloud.setSystemTime(System.currentTimeMillis());
return cloud;
}
public static MogoLatLng cloudLocationToMogoLatLng(CloudLocationInfo info) {
if (info == null) {
return null;
}
return new MogoLatLng(info.getLat(), info.getLon());
}
}

3
modules/mogo-realtime/src/main/java/com/mogo/realtime/util/MogoLatLng.java
View File

@@ -3,8 +3,7 @@ package com.mogo.realtime.util;
import android.os.Build;
import android.os.Parcel;
import android.os.Parcelable;
import androidx.annotation.RequiresApi;
import android.support.annotation.RequiresApi;
import java.util.Objects;

25
modules/mogo-realtime/src/main/java/com/mogo/realtime/util/MortonCode.java
View File

@@ -33,9 +33,9 @@ public class MortonCode {
private static final double RULE_MORTON_TO_LONLAT = 360.0 / Math.pow( 2, 32 );
/**
* @param lon
* @param lat
* @return
* @param lon 经度
* @param lat 纬度
* @return long 莫顿码
*/
public static long wrapEncodeMorton( Double lon, Double lat ) {
DecimalFormat decimalFormat = new DecimalFormat( "#.######" );
@@ -46,13 +46,13 @@ public class MortonCode {
/**
* 编码 morton code
*
* @param lon
* @param lat
* @return
* @param lon 经度
* @param lat 纬度
* @return long 莫顿码
*/
public static long encodeMorton( Double lon, Double lat ) {
Long bit = 1L;
long bit = 1L;
long mortonCode = 0L;
long x = ( long ) ( lon * RULE_MORTON );
long y = ( long ) ( lat * RULE_MORTON );
@@ -78,8 +78,8 @@ public class MortonCode {
/**
* 将莫顿码解码为坐标
*
* @param mortonCode
* @return
* @param mortonCode 莫顿码
* @return 坐标
*/
public static double[] decodeMorton( long mortonCode ) {
long[] midPoint = mortonCodeToCoord( mortonCode );
@@ -95,8 +95,8 @@ public class MortonCode {
/**
* 莫顿码分别拆解为 编码后的经纬度长整数
*
* @param mortonCode
* @return
* @param mortonCode 莫顿码
* @return 经纬度 长整数
*/
private static long[] mortonCodeToCoord( long mortonCode ) {
long bit = 1L;
@@ -114,7 +114,7 @@ public class MortonCode {
/**
* 对编码后的经纬度长整数进行解码
*
* @param midPoint
* @param midPoint 经纬度 长整数
*/
private static void normalizeCoord( long[] midPoint ) {
// if x > 180 degrees, then subtract 360 degrees
@@ -136,7 +136,6 @@ public class MortonCode {
midPoint[1] +=
NDS_180_DEGREES + 1; // add 1 because 0 must be counted as well
}
return;
}
}