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Merge branch 'dev_MogoAP_eagle-930_210926_8.0.12' into dev_MogoAP_eagle-1030_211020_8.0.14

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# Conflicts:
#	core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
#	gradle.properties
#	modules/mogo-module-adas/build.gradle
#	modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
#	modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
#	services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
#	services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
This commit is contained in:
董宏宇
2021-10-28 10:20:23 +08:00
parent faede749a8 0fea60b5f1
commit 02f5f7cbee
11 changed files with 384 additions and 40 deletions
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13
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
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@@ -4,6 +4,8 @@ import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASTrajectoryInfo;
import java.util.List;
@@ -169,4 +171,15 @@ public interface IMogoADASController extends IProvider {
*/
void cancelAutopilot();
/**
* 添加车前引导线回调
* @param
*/
void addAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack);
/**
* 移除车前引导线回调
* @param
*/
void removeAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack);
}

9
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasTrajectoryDataCallBack.java Normal file
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@@ -0,0 +1,9 @@
package com.mogo.service.adas;
import com.mogo.service.adas.entity.ADASTrajectoryInfo;
import java.util.List;
public interface IMogoAdasTrajectoryDataCallBack {
void onAutopilotTrajectory(List<ADASTrajectoryInfo> trajectoryInfo);
}

115
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASTrajectoryInfo.java Normal file
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@@ -0,0 +1,115 @@
package com.mogo.service.adas.entity;
/**
* @author song kenan
* @des
* @date 2021/10/21
*/
public class ADASTrajectoryInfo {
//经度
private Double lon;
//纬度
private Double lat;
//高度
private Double alt;
//时间 秒s
private Double time;
//速度 m/s
private Double velocity;
//加速度
private Double acceleration;
//速度方向
private Double theta;
//曲率
private Double kappa;
//从起点到目前的总距离
private Double accumulatedDis;
public void setLon(Double lon) {
this.lon = lon;
}
public void setLat(Double lat) {
this.lat = lat;
}
public void setAlt(Double alt) {
this.alt = alt;
}
public void setTime(Double time) {
this.time = time;
}
public void setVelocity(Double velocity) {
this.velocity = velocity;
}
public void setAcceleration(Double acceleration) {
this.acceleration = acceleration;
}
public void setTheta(Double theta) {
this.theta = theta;
}
public void setKappa(Double kappa) {
this.kappa = kappa;
}
public void setAccumulatedDis(Double accumulatedDis) {
this.accumulatedDis = accumulatedDis;
}
public Double getLon() {
return lon;
}
public Double getLat() {
return lat;
}
public Double getAlt() {
return alt;
}
public Double getTime() {
return time;
}
public Double getVelocity() {
return velocity;
}
public Double getAcceleration() {
return acceleration;
}
public Double getTheta() {
return theta;
}
public Double getKappa() {
return kappa;
}
public Double getAccumulatedDis() {
return accumulatedDis;
}
@Override
public String toString() {
return "TrajectoryModels{" +
"lon=" + lon +
", lat=" + lat +
", alt=" + alt +
", time='" + time + '\'' +
", velocity=" + velocity +
", acceleration=" + acceleration +
", theta=" + theta +
", kappa=" + kappa +
", accumulatedDis=" + accumulatedDis +
'}';
}
}

75
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -3,6 +3,11 @@ package com.mogo.service.impl.adas;
import android.app.Application;
import android.content.Context;
import android.content.Intent;
import android.os.Handler;
import android.os.Message;
import android.os.SystemClock;
import android.text.TextUtils;
import android.util.Log;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.alibaba.android.arouter.launcher.ARouter;
@@ -27,7 +32,16 @@ import com.mogo.service.adas.IMogoAdasCarDataCallback;
import com.mogo.service.adas.IMogoAdasDataCallback;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.IMogoAdasRouteCallBack;
import com.mogo.service.adas.IMogoAdasTrajectoryDataCallBack;
import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.ADASCarStateInfo;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASTrajectoryInfo;
import com.mogo.service.adas.entity.ADASWarnMessage;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
import com.mogo.service.adas.entity.CarModelListResponse;
import com.mogo.service.datamanager.IMogoDataManager;
import com.mogo.service.impl.singleton.SingletonsHolder;
import com.mogo.service.statusmanager.IMogoStatusManager;
import com.mogo.utils.UiThreadHandler;
@@ -37,6 +51,13 @@ import com.zhidao.adasconfig.api.AdasConfigApiController;
import com.zhidao.adasconfig.common.config.EnumCarHeading;
import com.zhidao.adasconfig.common.config.EnumSkinStyle;
import com.zhidao.autopilot.support.api.AutopilotServiceManage;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.TrajectoryInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import org.json.JSONObject;
@@ -78,6 +99,11 @@ public class MogoADASController implements IMogoADASController {
*/
private final List<IMogoAdasRouteCallBack> mMogoAdasRouteCallBacks = new CopyOnWriteArrayList<>();
/**
* 车前引导线回调
*/
private final List<IMogoAdasTrajectoryDataCallBack> mMogoAdasTrajectoryDataCallBacks = new CopyOnWriteArrayList<>();
private IAdasDataListener mAdasDataListener;
private IMogoAdasCarDataCallback mMogoAdasCarDataCallback;
@@ -170,6 +196,7 @@ public class MogoADASController implements IMogoADASController {
});
}
@Override
public void autopilotArrive(AutopilotStationInfo autopilotArriveModel) {
if (autopilotArriveModel == null) {
@@ -187,6 +214,37 @@ public class MogoADASController implements IMogoADASController {
}
}
@Override
public void onAutopilotTrajectory(List<TrajectoryInfo> trajectorys) {
if(trajectorys != null && trajectorys.size() > 0){
List<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
// TrajectoryInfo t= trajectorys.get(0);
Log.e("lianglihui","time:"+ System.currentTimeMillis());
for (TrajectoryInfo trajectory : trajectorys){
ADASTrajectoryInfo adasTrajectoryInfo = new ADASTrajectoryInfo();
adasTrajectoryInfo.setLat(trajectory.getLat());
adasTrajectoryInfo.setLon(trajectory.getLon());
adasTrajectoryInfo.setAcceleration(trajectory.getAcceleration());
adasTrajectoryInfo.setAccumulatedDis(trajectory.getAccumulatedDis());
adasTrajectoryInfo.setTime(trajectory.getTime());
adasTrajectoryInfo.setVelocity(trajectory.getVelocity());
adasTrajectoryInfo.setAlt(trajectory.getAlt());
adasTrajectoryInfo.setKappa(trajectory.getKappa());
adasTrajectoryInfo.setTheta(trajectory.getTheta());
Log.e("lianglihui","trajectory:"+ trajectory.getLat()+"-"+trajectory.getLon());
trajectoryInfoArrayList.add(adasTrajectoryInfo);
}
for (IMogoAdasTrajectoryDataCallBack callBack: mMogoAdasTrajectoryDataCallBacks){
if (callBack != null){
callBack.onAutopilotTrajectory(trajectoryInfoArrayList);
}
}
}
}
@Override
public void autopilotRoute(AutopilotRouteInfo autopilotRoute) {
if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
@@ -501,6 +559,23 @@ public class MogoADASController implements IMogoADASController {
public void cancelAutopilot() {
adasProvider.cancelPilot();
}
@Override
public void addAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack) {
if (callBack == null) {
return;
}
if (!mMogoAdasTrajectoryDataCallBacks.contains(callBack)) {
mMogoAdasTrajectoryDataCallBacks.add(callBack);
}
}
@Override
public void removeAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack) {
if (callBack != null){
mMogoAdasTrajectoryDataCallBacks.remove(callBack);
}
}
}