diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt index 703a49d5e7..8b9ed400fa 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt @@ -43,20 +43,23 @@ class SpeedPanelView @JvmOverloads constructor( var mContext: Context var mSpeedChartView: SpeedChartView var mDebugSettingViewFloat: WarningFloat.Builder? = null + var mDebugSettingView: DebugSettingView? = null init { setOnLongClickListener { Log.d(TAG, "长按显示状态工具栏") context.let { - val debugSettingView = DebugSettingView(it) - if (mDebugSettingViewFloat != null) { WarningFloat.dismiss(mDebugSettingViewFloat!!.config.floatTag, false) mDebugSettingViewFloat = null + mDebugSettingView = null } else { + if (mDebugSettingView == null) { + mDebugSettingView = DebugSettingView(it) + } mDebugSettingViewFloat = WarningFloat.with(it) .setTag("DebugSettingView") - .setLayout(debugSettingView) + .setLayout(mDebugSettingView!!) .setSidePattern(SidePattern.RIGHT) .setGravity(Gravity.RIGHT, offsetY = 70) .setImmersionStatusBar(true) diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml index 32f37d9868..006c7afc00 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml @@ -1,6 +1,6 @@ @@ -32,7 +32,7 @@ android:id="@+id/rgGpsProvider" android:layout_width="wrap_content" android:layout_height="wrap_content" - android:orientation="horizontal"> + android:orientation="vertical"> + android:orientation="vertical"> wayPoints ) { - naviTo( endPoint, wayPoints, mMogoNaviConfig ); + public void naviTo(MogoLatLng endPoint, List wayPoints) { + naviTo(endPoint, wayPoints, mMogoNaviConfig); } @Override - public void naviTo( MogoLatLng endPoint, List< MogoLatLng > wayPoints, MogoNaviConfig config ) { - if ( !checkAMapNavi() ) { + public void naviTo(MogoLatLng endPoint, List wayPoints, MogoNaviConfig config) { + if (!checkAMapNavi()) { return; } - Logger.i( TAG, "开始规划路径" ); + Logger.i(TAG, "开始规划路径"); mMogoNaviConfig = config; - if ( mMogoNaviConfig == null ) { + if (mMogoNaviConfig == null) { mMogoNaviConfig = new MogoNaviConfig(); } -// int strategy = mAMapNavi.strategyConvert( mMogoNaviConfig.isCongestion(), mMogoNaviConfig.isAvoidSpeed(), mMogoNaviConfig.isCost(), mMogoNaviConfig.isHighSpeed(), config.isMultipleRoute() ); -// List< NaviLatLng > naviWayPoints = null; -// if ( wayPoints != null && !wayPoints.isEmpty() ) { -// naviWayPoints = new ArrayList<>( wayPoints.size() ); -// for ( MogoLatLng wayPoint : wayPoints ) { -// naviWayPoints.add( ObjectUtils.fromMogoAsNavi( wayPoint ) ); -// } -// } else { -// naviWayPoints = new ArrayList<>(); -// } -// mAMapNavi.calculateDriveRoute( -// new ArrayList( Arrays.asList( ObjectUtils.fromMogoAsNavi( endPoint ) ) ), -// naviWayPoints, -// strategy -// ); } @Override - public void reCalculateRoute( MogoNaviConfig config ) { - if ( !checkAMapNavi() ) { + public void reCalculateRoute(MogoNaviConfig config) { + if (!checkAMapNavi()) { return; } mMogoNaviConfig = config; - if ( mMogoNaviConfig == null ) { + if (mMogoNaviConfig == null) { mMogoNaviConfig = new MogoNaviConfig(); } -// int strategy = mAMapNavi.strategyConvert( mMogoNaviConfig.isCongestion(), mMogoNaviConfig.isAvoidSpeed(), mMogoNaviConfig.isCost(), mMogoNaviConfig.isHighSpeed(), config.isMultipleRoute() ); -// mAMapNavi.reCalculateRoute( strategy ); } @Override public void stopNavi() { -// if ( mAMapNaviListener != null ) { -// mAMapNaviListener.stopNavi(); -// } } @Override - public void startNavi( boolean isRealNavi ) { -// if ( mAMapNaviListener.isStopped() ) { -// return; -// } -// mIsRealNavi = isRealNavi; -// stopAimlessMode(); -// boolean isNaving = isNaviing(); -// boolean result = mAMapNavi.startNavi( isRealNavi ? NaviType.GPS : NaviType.EMULATOR ); -// if ( isNaving && !result ) { -// // 如果正在导航，又重新规划路线，startNavi 不会成功，不会重新回调 #onStartNavi -// MogoNaviListenerHandler.getInstance().onStartNavi(); -// AMapMessageManager.getInstance().postNaviStarted(); -// } -// Logger.d( TAG, "start navi status: %s", result ); + public void startNavi(boolean isRealNavi) { } @Override public boolean isNaviing() { -// if ( mAMapNaviListener != null ) { -// return mAMapNaviListener.isNaviing(); -// } return false; } @Override - public List< MogoCalculatePath > getCalculatedStrategies() { -// if ( mAMapNaviListener != null ) { -// return mAMapNaviListener.getCalculateStrategies(); -// } + public List getCalculatedStrategies() { return null; } @Override - public List< MogoLatLng > getCalculatedPathPos() { -// if ( mAMapNaviListener != null ) { -// return mAMapNaviListener.getCalculatedPathPos(); -// } + public List getCalculatedPathPos() { return null; } @Override public OnCalculatePathItemClickInteraction getItemClickInteraction() { -// if ( mAMapNaviListener != null ) { -// return mAMapNaviListener.getItemClickInteraction(); -// } return null; } @Override - public void setLineClickInteraction( OnCalculatePathItemClickInteraction lineClickInteraction ) { - // do not impl. + public void setLineClickInteraction(OnCalculatePathItemClickInteraction lineClickInteraction) { + } @Override public void clearCalculatePaths() { -// if ( mAMapNaviListener != null ) { -// mAMapNaviListener.clearCalculatePaths(); -// } } @Override - public void setCalculatePathDisplayBounds( Rect bounds ) { -// if ( mAMapNaviListener != null ) { -// mAMapNaviListener.setCalculatePathDisplayBounds( bounds ); -// } + public void setCalculatePathDisplayBounds(Rect bounds) { } @Override @@ -234,20 +164,20 @@ public class NaviClient implements IMogoNavi { } @Override - public boolean setBroadcastMode( int mode ) { - return false;//mAMapNavi.setBroadcastMode( mode ); + public boolean setBroadcastMode(int mode) { + return false; } @Override - public List< MogoLatLng > getNaviPathCoordinates() { + public List getNaviPathCoordinates() { return null; } @Override public MogoLatLng getCarLocation() { - if ( mCarLocation != null ) { - synchronized ( mCarLocation ) { - return new MogoLatLng( mCarLocation.getLatitude(), mCarLocation.getLongitude() ); + if (mCarLocation != null) { + synchronized (mCarLocation) { + return new MogoLatLng(mCarLocation.getLatitude(), mCarLocation.getLongitude()); } } return null; @@ -259,100 +189,76 @@ public class NaviClient implements IMogoNavi { } @Override - public void registerCarLocationChangedListener( IMogoCarLocationChangedListener2 listener ) { + public void registerCarLocationChangedListener(IMogoCarLocationChangedListener2 listener) { // do not impl. } // -- end - public void syncCarLocation( Location location ) { + public void syncCarLocation(Location location) { mCarLocation = location; - if ( MogoCarLocationChangedListenerRegister.getInstance().getListener() != null ) { - MogoCarLocationChangedListenerRegister.getInstance().getListener().onCarLocationChanged2( location ); + if (MogoCarLocationChangedListenerRegister.getInstance().getListener() != null) { + MogoCarLocationChangedListenerRegister.getInstance().getListener().onCarLocationChanged2(location); } } private boolean checkAMapNavi() { mAMapNavi = AMapWrapper.getAMap(); - if ( mAMapNavi == null ) { - Logger.e( TAG, "自研导航实例为空！！！" ); + if (mAMapNavi == null) { + Logger.e(TAG, "自研导航实例为空！！！"); return false; } return true; } - public boolean isRealNavi() { - return mIsRealNavi; - } - - public void handleClickedPolyline( Polyline polyline ) { -// if ( mAMapNaviListener != null ) { -// mAMapNaviListener.handleClickedPolyline( polyline ); -// } - } - @Override public void startAimlessMode() { -// if ( mAimlessModeStatus && !isNaviing() ) { -// mAMapNavi.startAimlessMode( AimLessMode.CAMERA_AND_SPECIALROAD_DETECTED ); -// mAimlessStatus = true; -// Logger.d( TAG, "开启巡航成功" ); -// } else { -// mAimlessStatus = false; -// Logger.d( TAG, "开启巡航失败" ); -// } } @Override public void stopAimlessMode() { -// mAMapNavi.stopAimlessMode(); -// mAimlessStatus = false; -// Logger.d( TAG, "关闭巡航成功" ); } @Override - public void setAimlessModeStatus( boolean open ) { + public void setAimlessModeStatus(boolean open) { this.mAimlessModeStatus = open; - SharedPrefsMgr.getInstance( mContext ).putBoolean( KEY_AIMLESS_STATUS, open ); - if ( open ) { - if ( !mAimlessStatus ) { + SharedPrefsMgr.getInstance(mContext).putBoolean(KEY_AIMLESS_STATUS, open); + if (open) { + if (!mAimlessStatus) { startAimlessMode(); } } else { - if ( mAimlessStatus ) { + if (mAimlessStatus) { stopAimlessMode(); } } } @Override - public void displayOverview( Rect bounds ) { -// if ( mAMapNaviListener != null ) { -// mAMapNaviListener.displayOverview( bounds ); -// } + public void displayOverview(Rect bounds) { } @Override - public void setUseExtraGPSData( boolean use ) { - Logger.d( TAG, "设置外部gps源状态 %s", use ); - mAMapNavi.setIsUseExtraGPSData( use ); - AMapWrapper.getAMap().setMyLocationEnabled( true ); + public void setUseExtraGPSData(boolean use) { + Logger.d(TAG, "设置外部gps源状态 %s", use); + mAMapNavi.setIsUseExtraGPSData(use); + AMapWrapper.getAMap().setMyLocationEnabled(true); } @Override - public void setExtraGPSData( double lon, double lat, float speed, float accuracy, float bearing, long timestamp ) { - if ( !mAMapNavi.getIsUseExtraGPSData() ) { - Logger.d( TAG, "拒绝外部GPS数据" ); + public void setExtraGPSData(double lon, double lat, float speed, float accuracy, float bearing, long timestamp) { + if (!mAMapNavi.getIsUseExtraGPSData()) { + Logger.d(TAG, "拒绝外部GPS数据"); return; } - Location location = new Location( "外部GPS源" ); - location.setLongitude( lon ); - location.setLatitude( lat ); - location.setSpeed( speed ); - location.setAccuracy( accuracy ); - location.setBearing( bearing ); - location.setTime( timestamp ); + Location location = new Location("外部GPS源"); + location.setLongitude(lon); + location.setLatitude(lat); + location.setSpeed(speed); + location.setAccuracy(accuracy); + location.setBearing(bearing); + location.setTime(timestamp); //type字段传1时代表WGS84坐标 - mAMapNavi.setExtraGPSData( 2, location ); + mAMapNavi.setExtraGPSData(2, location); } } diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java index adb193724c..e65056ce58 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java +++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java @@ -205,6 +205,8 @@ public class AdasEventManager implements } } + + //can数据转发 AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues(); if (bean != null) { @@ -233,12 +235,10 @@ public class AdasEventManager implements @Override public void onAutopilotIdentifyDataUpdate(@Nullable List trafficData) { - // 仅在 vr 模式下显示 adas 识别车辆 - if (trafficData == null) { - Logger.w(TAG, "--->action is null"); - IdentifyDataDrawer.getInstance().clearOldMarker(); - } else { - try { + try { + if (trafficData == null) { + IdentifyDataDrawer.getInstance().clearOldMarker(); + } else { if (FunctionBuildConfig.isDrawIdentifyData) { ThreadUtils.getSinglePool().execute(() -> IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData) @@ -246,9 +246,10 @@ public class AdasEventManager implements } else { IdentifyDataDrawer.getInstance().clearOldMarker(); } - } catch (Exception e) { - e.printStackTrace(); } + } catch (Exception e) { + e.printStackTrace(); + IdentifyDataDrawer.getInstance().clearOldMarker(); } try { for (IAdasDataListener listener : iAdasEventListeners) { diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java index 5202199234..bb6961739f 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java @@ -67,13 +67,13 @@ public class IdentifyDataDrawer extends BaseDrawer { final long start = System.nanoTime(); if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) { clearOldMarker(); - Log.w(TAG, "ADAS数据延时绘制 resultList==>" + resultList + " DebugConfig.isUseAdasRecognize()==>" + DebugConfig.isUseAdasRecognize()); + Log.w(TAG, "渲染 adas 识别的数据 resultList==>" + resultList + " DebugConfig.isUseAdasRecognize()==>" + DebugConfig.isUseAdasRecognize()); return; } if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) { clearOldMarker(); - Log.w(TAG, "ADAS数据延时绘制 当前不是VR模式"); + Log.w(TAG, "渲染 adas 识别的数据 当前不是VR模式"); return; } diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java index fd99053cad..e1dab2f730 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java @@ -3,8 +3,6 @@ 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 com.alibaba.android.arouter.facade.annotation.Route; import com.alibaba.android.arouter.launcher.ARouter; @@ -33,7 +31,6 @@ import com.mogo.service.adas.IMogoAdasWarnMessageCallback; import com.mogo.service.impl.singleton.SingletonsHolder; import com.mogo.service.statusmanager.IMogoStatusManager; import com.mogo.utils.UiThreadHandler; -import com.mogo.utils.WorkThreadHandler; import com.mogo.utils.logger.Logger; import com.mogo.utils.network.utils.GsonUtil; import com.zhidao.adasconfig.api.AdasConfigApiController; @@ -109,38 +106,6 @@ public class MogoADASController implements IMogoADASController { private final List mAdasOCHCallback = new CopyOnWriteArrayList<>(); - /** - * 接收 adas 定位数据线程 - */ - private final Handler mAdasLocationRecHandler = new Handler(WorkThreadHandler.newInstance("AdasLocationRecThread").getLooper()) { - @Override - public void handleMessage(Message msg) { - super.handleMessage(msg); - final long start = System.currentTimeMillis(); - - AutopilotCarStateInfo stateInfo = GsonUtil.objectFromJson(((String) msg.obj), AutopilotCarStateInfo.class); - if (stateInfo == null || stateInfo.getValues() == null) { -// Logger.d(TAG, "ADAS-LOC-timer", "upd 到 aidl 传输数据 stateInfo or stateInfo.getValues() is null"); - return; - } -// if (stateInfo.getValues().getStartReceiverDataTime() != null) { -// Logger.d("ADAS-LOC-timer", "upd 到 aidl 传输耗时：%s", start - Long.valueOf(stateInfo.getValues().getStartReceiverDataTime())); -// } else { -// Logger.d("ADAS-LOC-timer", "upd 到 aidl 传输耗时时间字段 startReceiverDataTime is null"); -// } - - mLastLon = stateInfo.getValues().getLon(); - mLastLat = stateInfo.getValues().getLat(); - mSpeed = stateInfo.getValues().getGnss_speed(); - satelliteTime = stateInfo.getValues().getSatelliteTime(); - if (mMogoAdasCarDataCallback != null) { - mMogoAdasCarDataCallback.onAdasCarDataCallback(stateInfo); - } -// Logger.i("ADAS-LOC-timer", "cost " + (System.currentTimeMillis() - start) + "ms"); - } - }; - - @Override public void openADAS() { showADAS(); @@ -155,7 +120,6 @@ public class MogoADASController implements IMogoADASController { } } - @Override public void showADAS() { Logger.d(TAG, "showADAS()"); @@ -246,15 +210,23 @@ public class MogoADASController implements IMogoADASController { @Override public void ownerCarStateInfo(String ownerCarStateInfo) { - Message message = mAdasLocationRecHandler.obtainMessage(); - message.obj = ownerCarStateInfo; - message.sendToTarget(); + // 接收 adas 定位数据线程 + AutopilotCarStateInfo stateInfo = GsonUtil.objectFromJson(ownerCarStateInfo, AutopilotCarStateInfo.class); + if (stateInfo == null || stateInfo.getValues() == null) { + return; + } + mLastLon = stateInfo.getValues().getLon(); + mLastLat = stateInfo.getValues().getLat(); + mSpeed = stateInfo.getValues().getGnss_speed(); + satelliteTime = stateInfo.getValues().getSatelliteTime(); + if (mMogoAdasCarDataCallback != null) { + mMogoAdasCarDataCallback.onAdasCarDataCallback(stateInfo); + } } @Override public void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) { DebugConfig.setAutoPilotStatus(autopilotStatus.getState() + ""); - if (!mAdasOCHCallback.isEmpty()) { for (IMogoAdasOCHCallback cb : mAdasOCHCallback) { cb.onStateChanged(autopilotStatus.getState(), autopilotStatus.getReason());