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This commit is contained in:
wangcongtao
2021-02-23 18:06:39 +08:00
parent 34bce8de37
commit 0552dc0768
9 changed files with 171 additions and 308 deletions
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6
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServiceProvider.java
View File

@@ -99,9 +99,9 @@ public class MogoServiceProvider implements IMogoModuleProvider {
public void init( Context context ) {
Logger.d( TAG, "init" );
MarkerServiceHandler.init( context );
if ( DebugConfig.isNeedUploadCoordinatesDurationInTime() ) {
MogoRTKLocation.getInstance().init();
}
// if ( DebugConfig.isNeedUploadCoordinatesDurationInTime() ) {
// }
MogoRTKLocation.getInstance().init();
MogoServices.getInstance().preInit( context );
MogoServices.getInstance().init( AbsMogoApplication.getApp() );
UiThreadHandler.postDelayed( () -> {

4
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -47,7 +47,7 @@ import com.mogo.module.service.refresh.CustomRefreshStrategy;
import com.mogo.module.service.refresh.RefreshObject;
import com.mogo.module.service.strategy.CarIconDisplayStrategy;
import com.mogo.module.service.ttsConfig.TtsConfigModleData;
import com.mogo.module.service.uploadintime.SnapshotUploadInTime;
import com.mogo.module.service.uploadintime.SnapshotLocationController;
import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
@@ -982,7 +982,7 @@ public class MogoServices implements IMogoMapListener,
e.printStackTrace();
}
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
SnapshotUploadInTime.getInstance().syncAdasLocationInfo( data );
SnapshotLocationController.getInstance().syncAdasLocationInfo( data );
} catch ( Exception e ) {
e.printStackTrace();
}

4
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/ADASStatusIntentHandler.java
View File

@@ -8,7 +8,7 @@ import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.ServiceConst;
import com.mogo.module.service.carinfo.CarStateInfo;
import com.mogo.module.service.receiver.MogoReceiver;
import com.mogo.module.service.uploadintime.SnapshotUploadInTime;
import com.mogo.module.service.uploadintime.SnapshotLocationController;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.utils.GsonUtil;
@@ -73,7 +73,7 @@ class ADASStatusIntentHandler implements IntentHandler {
data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() );
data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() );
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
SnapshotUploadInTime.getInstance().syncAdasLocationInfo( data );
SnapshotLocationController.getInstance().syncAdasLocationInfo( data );
} catch ( Exception e ) {
e.printStackTrace();
}

164
modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
View File

@@ -1,37 +1,21 @@
package com.mogo.module.service.location;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;
import android.location.Criteria;
import android.location.Location;
import android.location.LocationListener;
import android.location.LocationManager;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.module.service.uploadintime.SnapshotUploadInTime;
import com.mogo.module.service.uploadintime.SnapshotLocationController;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
import java.util.ArrayList;
import java.util.List;
public class MogoRTKLocation {
private static final String TAG = "MogoRTKLocation";
private static final int MSG_DATA_CHANGED = 0x100;
private static final long MSG_DATA_INTERNAL = 500L;
private Handler mHandler;
private LocationManager locationManager;
private RTKLocationListener rtkLocationListener;
private List<CloudLocationInfo> cacheList = new ArrayList<>();
public static MogoRTKLocation getInstance() {
return RTKHolder.rtkLoc;
@@ -42,151 +26,79 @@ public class MogoRTKLocation {
}
private MogoRTKLocation() {
mHandler = new Handler(WorkThreadHandler.newInstance( TAG ).getLooper() ) {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.what == MSG_DATA_CHANGED) {
mHandler.sendEmptyMessageDelayed(MSG_DATA_CHANGED, uploadDelay);
sendLocationData();
// Logger.d(TAG,"handleMessage开始发送消息");
}
}
};
mHandler.sendEmptyMessage(MSG_DATA_CHANGED);
Logger.d(TAG,"构造方法开始发送消息");
}
public interface RTKLocationListener {
void onLocationChanged(int dataAccuracy, List<CloudLocationInfo> cloudLocationInfos);
}
private void sendLocationData() {
List<CloudLocationInfo> list = null;
int dataAccuracy = 0;
if ( DebugConfig.isUseAdasRtkLocationInfo() ) {
dataAccuracy = 1;
list = new ArrayList<>(SnapshotUploadInTime.getInstance().getSendLocationData());
}
if ( list == null || list.isEmpty() ) {
dataAccuracy = 0;
list = new ArrayList<>(cacheList);
}
if (cacheList != null && cacheList.size() > 0) {
cacheList.clear();
}
if (rtkLocationListener != null) {
rtkLocationListener.onLocationChanged(dataAccuracy, list);
}
}
public void registerRTKLocationListener(RTKLocationListener locationListener) {
rtkLocationListener = locationListener;
}
public void unregisterRTKLocationListener(){
rtkLocationListener = null;
}
public void init() {
locationManager = (LocationManager) AbsMogoApplication.getApp().getApplicationContext().getSystemService(Context.LOCATION_SERVICE);
String provider = locationManager.getBestProvider(getCriteria(), true);
Logger.d(TAG, "init provider : " + provider);
if (locationManager.isProviderEnabled(LocationManager.GPS_PROVIDER)) {
locationManager = ( LocationManager ) AbsMogoApplication.getApp().getApplicationContext().getSystemService( Context.LOCATION_SERVICE );
String provider = locationManager.getBestProvider( getCriteria(), true );
Logger.d( TAG, "init provider : " + provider );
if ( locationManager.isProviderEnabled( LocationManager.GPS_PROVIDER ) ) {
try {
locationManager.requestLocationUpdates(provider, 0, 0, locationListener);
Location location = locationManager.getLastKnownLocation(provider);
if (location != null) {
Logger.i(TAG, "location : " + location.toString());
locationManager.requestLocationUpdates( provider, 0, 0, locationListener );
Location location = locationManager.getLastKnownLocation( provider );
if ( location != null ) {
Logger.i( TAG, "location : " + location.toString() );
}
} catch (Exception e) {
} catch ( Exception e ) {
e.printStackTrace();
Logger.d(TAG, "RTK LocationManager requestLocationUpdates has Exception : " + e.getMessage());
Logger.d( TAG, "RTK LocationManager requestLocationUpdates has Exception : " + e.getMessage() );
}
} else {
Logger.d(TAG, "RTK LocationManager Provider GPS_PROVIDER unable");
Logger.d( TAG, "RTK LocationManager Provider GPS_PROVIDER unable" );
}
// 注册修改上报间隔的广播, 临时使用，后面可直接干掉，发送广播的地方在EntranceFragment
IntentFilter filter = new IntentFilter("com.mogo.launcher.action.FIX_UPLOAT_DELAY");
AbsMogoApplication.getApp().registerReceiver(fixUploadDelayReceiver, filter);
}
private Criteria getCriteria() {
Criteria criteria = new Criteria();
criteria.setAccuracy(Criteria.ACCURACY_FINE); //高精
criteria.setAltitudeRequired(false);
criteria.setBearingRequired(true);
criteria.setSpeedRequired(true);
criteria.setPowerRequirement(Criteria.POWER_LOW);
criteria.setAccuracy( Criteria.ACCURACY_FINE ); //高精
criteria.setAltitudeRequired( false );
criteria.setBearingRequired( true );
criteria.setSpeedRequired( true );
criteria.setPowerRequirement( Criteria.POWER_LOW );
return criteria;
}
private LocationListener locationListener = new LocationListener() {
@Override
public void onLocationChanged(Location location) {
if (location != null) {
public void onLocationChanged( Location location ) {
if ( location != null ) {
CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
cloudLocationInfo.setAlt(location.getAltitude());
cloudLocationInfo.setHeading(location.getBearing());
cloudLocationInfo.setLat(location.getLatitude());
cloudLocationInfo.setLon(location.getLongitude());
cloudLocationInfo.setSpeed(location.getSpeed());
cloudLocationInfo.setSatelliteTime(location.getTime());
cloudLocationInfo.setSystemTime(System.currentTimeMillis());
cloudLocationInfo.setAlt( location.getAltitude() );
cloudLocationInfo.setHeading( location.getBearing() );
cloudLocationInfo.setLat( location.getLatitude() );
cloudLocationInfo.setLon( location.getLongitude() );
cloudLocationInfo.setSpeed( location.getSpeed() );
cloudLocationInfo.setSatelliteTime( location.getTime() );
cloudLocationInfo.setSystemTime( System.currentTimeMillis() );
cloudLocationInfo.convertCoor2GCJ02();
cacheList.add(cloudLocationInfo);
SnapshotLocationController.getInstance().syncLocationInfo( cloudLocationInfo );
} else {
Logger.e(TAG, "location == null");
Logger.e( TAG, "location == null" );
}
}
@Override
public void onStatusChanged(String provider, int status, Bundle extras) {
Logger.d(TAG, "onStatusChanged status: " + status);
public void onStatusChanged( String provider, int status, Bundle extras ) {
Logger.d( TAG, "onStatusChanged status: " + status );
}
@Override
public void onProviderEnabled(String provider) {
Logger.d(TAG, "onProviderEnabled");
public void onProviderEnabled( String provider ) {
Logger.d( TAG, "onProviderEnabled" );
}
@Override
public void onProviderDisabled(String provider) {
Logger.d(TAG, "onProviderEnabled");
public void onProviderDisabled( String provider ) {
Logger.d( TAG, "onProviderEnabled" );
}
};
public void stop() {
Logger.d(TAG, "stop RTK Location");
if (locationManager != null && locationListener != null) {
locationManager.removeUpdates(locationListener);
Logger.d( TAG, "stop RTK Location" );
if ( locationManager != null && locationListener != null ) {
locationManager.removeUpdates( locationListener );
} else {
Logger.d(TAG, "stop failed , reason : loc" + locationManager + " , or loc listener: " + locationListener + " is null");
}
}
private long uploadDelay = MSG_DATA_INTERNAL;
private FixUploadDelayReceiver fixUploadDelayReceiver = new FixUploadDelayReceiver();
private class FixUploadDelayReceiver extends BroadcastReceiver{
@Override
public void onReceive(Context context, Intent intent) {
uploadDelay = intent.getIntExtra("fixTime", 0);
}
}
/**
* 默认保持{@link #uploadDelay}间隔进行位置上报，如遇服务端控制，进行上报间隔修改
* @param delay 上报间隔
*/
public void resetUploadDelay(long delay) {
if (mHandler != null && mHandler.hasMessages(MSG_DATA_CHANGED)) {
mHandler.removeMessages(MSG_DATA_CHANGED);
mHandler.sendEmptyMessageDelayed(MSG_DATA_CHANGED, delay);
Logger.d( TAG, "stop failed , reason : loc" + locationManager + " , or loc listener: " + locationListener + " is null" );
}
}
}

4
modules/mogo-module-service/src/main/java/com/mogo/module/service/spi/SPIRealTimeUpload.java
View File

@@ -1,7 +1,7 @@
package com.mogo.module.service.spi;
import com.elegant.spi.annotations.Service;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.uploadintime.SnapshotLocationController;
import com.mogo.realtime.api.IRealTimeProvider;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudLocationInfo;
@@ -20,6 +20,6 @@ public class SPIRealTimeUpload implements IRealTimeProvider {
@Override
public List<CloudLocationInfo> getLocationMsg() {
return null;
return SnapshotLocationController.getInstance().getSendLocationData();
}
}

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/strategy/MogoRefreshStrategyController.java
View File

@@ -38,7 +38,7 @@ public class MogoRefreshStrategyController implements IMogoRefreshStrategyContro
@Override
public void resetLocationUpDelay(long delay) {
MogoRTKLocation.getInstance().resetUploadDelay(delay);
// MogoRTKLocation.getInstance().resetUploadDelay(delay);
}
@Override

123
modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotLocationController.java Normal file
View File

@@ -0,0 +1,123 @@
package com.mogo.module.service.uploadintime;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.utils.logger.Logger;
import org.json.JSONObject;
import java.util.ArrayList;
import java.util.List;
public
/**
* @author congtaowang
* @since 2020/12/14
*
* 实时坐标
*/
class SnapshotLocationController {
private static final String TAG = "SnapshotLocationController";
private static volatile SnapshotLocationController sInstance;
private SnapshotLocationController() {
}
public static SnapshotLocationController getInstance() {
if ( sInstance == null ) {
synchronized ( SnapshotLocationController.class ) {
if ( sInstance == null ) {
sInstance = new SnapshotLocationController();
}
}
}
return sInstance;
}
public synchronized void release() {
sInstance = null;
}
private Object readResolve() {
// 阻止反序列化，必须实现 Serializable 接口
return sInstance;
}
private List< CloudLocationInfo > mLocationList = new ArrayList<>();
/**
* 同步从定位来的数据（也可能是rtk）
*
* @param cli
*/
public void syncLocationInfo( CloudLocationInfo cli ) {
if ( cli == null ) {
return;
}
mLocationList.add( cli );
}
// adda 工控机数据缓存
private List< CloudLocationInfo > mMachineCacheList = new ArrayList<>();
/**
* 同步从工控机来的数据
*
* @param data
*/
public void syncAdasLocationInfo( JSONObject data ) {
if ( data == null ) {
return;
}
Logger.d( TAG, "同步到rtk数据" );
double lon = data.optDouble( "lon", -1 );
double lat = data.optDouble( "lat", -1 );
double alt = data.optDouble( "alt", -1 );
double heading = data.optDouble( "heading", -1 );
double acceleration = data.optDouble( "acceleration", -1 );
double yawRate = data.optDouble( "yawRate", -1 );
double speed = data.optDouble( "speed", -1 );
long satelliteTime = 0L;
try {
satelliteTime = Long.valueOf( data.optString( "satelliteTime" ) );
} catch ( Exception e ) {
e.printStackTrace();
}
CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
cloudLocationInfo.setAlt( alt );
cloudLocationInfo.setHeading( heading );
cloudLocationInfo.setLat( lat );
cloudLocationInfo.setLon( lon );
cloudLocationInfo.setSpeed( speed );
cloudLocationInfo.setSatelliteTime( satelliteTime );
cloudLocationInfo.setSystemTime( System.currentTimeMillis() );
cloudLocationInfo.convertCoor2GCJ02();
mMachineCacheList.add( cloudLocationInfo );
}
/**
* 获取某一段时间内的坐标集合
*
* @return
*/
public List< CloudLocationInfo > getSendLocationData() {
List< CloudLocationInfo > list = null;
int dataAccuracy = 0;
if ( mMachineCacheList != null ) {
dataAccuracy = 1;
list = new ArrayList<>( mMachineCacheList );
mMachineCacheList.clear();
}
if ( list == null || list.isEmpty() ) {
dataAccuracy = 0;
if ( mLocationList != null ) {
list = new ArrayList<>( mLocationList );
mLocationList.clear();
}
}
return list;
}
}

171
modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java
View File

@@ -1,171 +0,0 @@
package com.mogo.module.service.uploadintime;
import android.content.Context;
import com.mogo.commons.utils.MortonCode;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.location.MogoRTKLocation;
import com.mogo.module.service.utils.SimpleLocationCorrectStrategy;
import com.mogo.module.service.websocket.LocationResult;
import com.mogo.module.service.websocket.OnePerSecondSendContent;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.connection.IMogoOnWebSocketMessageListener;
import com.mogo.service.connection.WebSocketMsgType;
import com.mogo.utils.logger.Logger;
import org.json.JSONObject;
import java.util.ArrayList;
import java.util.List;
public
/*
* @author congtaowang
* @since 2020/12/14
*
* 实时上报坐标、识别物体
*/
class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener {
private static final String TAG = "SnapshotUploadInTime";
private static volatile SnapshotUploadInTime sInstance;
private Context mContext;
private SnapshotUploadInTime() {
}
public static SnapshotUploadInTime getInstance() {
if ( sInstance == null ) {
synchronized ( SnapshotUploadInTime.class ) {
if ( sInstance == null ) {
sInstance = new SnapshotUploadInTime();
}
}
}
return sInstance;
}
public synchronized void release() {
sInstance = null;
}
private Object readResolve() {
// 阻止反序列化，必须实现 Serializable 接口
return sInstance;
}
public void start( Context context ) {
mContext = context.getApplicationContext();
MogoRTKLocation.getInstance().registerRTKLocationListener( this );
}
public void stop() {
MogoRTKLocation.getInstance().unregisterRTKLocationListener();
MogoRTKLocation.getInstance().stop();
}
@Override
public void onLocationChanged( int dataAccuracy, List<CloudLocationInfo> cloudLocationInfos ) {
startSendCarLocationAndAdasRecognizedResult2Server( dataAccuracy, cloudLocationInfos );
}
private CloudLocationInfo mLastInfo;
private void startSendCarLocationAndAdasRecognizedResult2Server( int dataAccuracy, List< CloudLocationInfo > cloudLocationInfo ) {
CloudLocationInfo lastInfo = null;
// 如果数组内容不为空，就用数组最后一个值
if ( cloudLocationInfo != null && !cloudLocationInfo.isEmpty() ) {
lastInfo = cloudLocationInfo.get( cloudLocationInfo.size() - 1 );
mLastInfo = lastInfo;
}
if ( lastInfo == null ) {
lastInfo = mLastInfo;
}
LocationResult locationResult = null;
if ( lastInfo != null ) {
// 定位点预测纠偏
lastInfo = SimpleLocationCorrectStrategy.getInstance().correct( lastInfo );
locationResult = new LocationResult();
locationResult.dataAccuracy = dataAccuracy;
if ( lastInfo != null ) {
locationResult.lastCoordinate = lastInfo;
locationResult.mortonCode = MortonCode.wrapEncodeMorton( lastInfo.getLon(), lastInfo.getLat() );
}
locationResult.coordinates = new ArrayList<>();
locationResult.sn = com.mogo.commons.network.Utils.getSn();
if ( cloudLocationInfo == null || cloudLocationInfo.isEmpty() ) {
locationResult.coordinates.addAll( new ArrayList<>() );
} else {
locationResult.coordinates.addAll( cloudLocationInfo );
}
}
List< ADASRecognizedResult > recognizedResults = MarkerServiceHandler.getADASController().getLastADASRecognizedResult();
Logger.d( TAG, "发送的adas识别数量 = %s", recognizedResults == null ? 0 : recognizedResults.size() );
OnePerSecondSendContent content = new OnePerSecondSendContent();
content.self = locationResult;
content.adas = recognizedResults;
if ( content.self == null &&
( content.adas == null || content.adas.isEmpty() ) ) {
Logger.d( TAG, "no information 2 sent" );
return;
}
MarkerServiceHandler.getApis().getWebSocketManagerApi( mContext ).sendMsg( content, new IMogoOnWebSocketMessageListener() {
@Override
public WebSocketMsgType getDownLinkType() {
return null;
}
@Override
public WebSocketMsgType getUpLinkType() {
return WebSocketMsgType.MSG_TYPE_UPLINK_CAR_DATA;
}
} );
}
// adda 工控机数据缓存
private List< CloudLocationInfo > cacheList = new ArrayList<>();
public void syncAdasLocationInfo( JSONObject data ) {
if ( data == null ) {
return;
}
Logger.d( TAG, "同步到rtk数据" );
double lon = data.optDouble( "lon", -1 );
double lat = data.optDouble( "lat", -1 );
double alt = data.optDouble( "alt", -1 );
double heading = data.optDouble( "heading", -1 );
double acceleration = data.optDouble( "acceleration", -1 );
double yawRate = data.optDouble( "yawRate", -1 );
double speed = data.optDouble( "speed", -1 );
long satelliteTime = 0L;
try {
satelliteTime = Long.valueOf( data.optString( "satelliteTime" ) );
} catch ( Exception e ) {
e.printStackTrace();
}
CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
cloudLocationInfo.setAlt( alt );
cloudLocationInfo.setHeading( heading );
cloudLocationInfo.setLat( lat );
cloudLocationInfo.setLon( lon );
cloudLocationInfo.setSpeed( speed );
cloudLocationInfo.setSatelliteTime( satelliteTime );
cloudLocationInfo.setSystemTime( System.currentTimeMillis() );
cloudLocationInfo.convertCoor2GCJ02();
cacheList.add( cloudLocationInfo );
}
public List< CloudLocationInfo > getSendLocationData() {
List< CloudLocationInfo > list = new ArrayList<>( cacheList );
if ( cacheList != null && cacheList.size() > 0 ) {
cacheList.clear();
}
return list;
}
}