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[dev_arch_opt_3.0]

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[
1、完成工控机数据和高德GPS地图数据的数据中心，以及工控机数据超时后的自动切换为高德地图GPS数据
定位监听已重构，CallerChassisLocationGCJ20ListenerManager---高的坐标系，CallerChassisLocationWGS84ListenerManager--高精坐标系，之前代码已修改，大家后续项目中根据需要进行订阅，如需控制频率可在订阅时
// 设置数据回调频率，单位HZ，1HZ的周期是1秒；50HZ的周期是1/50=0.02秒；10HZ的周期是1/10=0.1秒。
CallerChassisLocationWGS84ListenerManager.setListenerHz(Companion.functionName, 20)
CallerChassisLocationGCJ20ListenerManagersetListenerHz(Companion.functionName, 20)
]

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2023-02-02 19:24:38 +08:00
parent 0a4b0be72a
commit 111940123f
107 changed files with 963 additions and 724 deletions
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4
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
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@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -130,7 +130,7 @@ class DispatchAutoPilotManager private constructor() :
AutopilotControlParameters.AutoPilotLonLat(it.endLat, it.endLon)
currentAutopilot.vehicleType = 10
CallerLogger.d(SceneConstant.Companion.M_DISPATCH + TAG, "开启自动驾驶====$currentAutopilot")
CallerAutoPilotManager.startAutoPilot(currentAutopilot)
CallerAutoPilotControlManager.startAutoPilot(currentAutopilot)
}
}

8
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/redlightwarning/RedLightWarningManager.kt
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@@ -6,6 +6,7 @@ import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_IVP_G
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2I
import com.mogo.eagle.core.data.enums.EventTypeEnumNew
import com.mogo.eagle.core.data.map.MogoLatLng
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.data.msgbox.MsgBoxType
import com.mogo.eagle.core.data.msgbox.V2XMsg
@@ -26,7 +27,6 @@ import com.mogo.eagle.core.utilcode.util.LocationUtils
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
import com.zhjt.service_biz.BizConfig
import mogo.telematics.pad.MessagePad
import kotlin.math.abs
import kotlin.math.ceil
import kotlin.math.floor
@@ -44,7 +44,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
// 是否已进入到路口(停止线处)
private var isEnter = false
private var mLocation: MessagePad.GnssInfo? = null
private var mLocation: MogoLocation? = null
companion object {
@@ -100,7 +100,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
// 路口100m闯红灯预警
mLocation?.let {
// 单位m/s
val speed = it.vehicleSpeed
val speed = it.gnssSpeed
// 车停止或者速度非常慢，可能返回负数或者很小的值，需要过滤
CallerLogger.d("$M_V2X$TAG", "speed is:$speed")
if (speed <= 2.5f) return// 小于等于9km/h不处理
@@ -277,7 +277,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
CallerChassisLocationGCJ20ListenerManager.removeListener(TAG)
}
override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
gnssInfo?.let {
mLocation = it
}

6
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt
View File

@@ -3,6 +3,7 @@ package com.mogo.eagle.function.biz.v2x.trafficlight.core
import android.content.Context
import android.os.Handler
import android.os.Looper
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.data.trafficlight.*
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
@@ -15,7 +16,6 @@ import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandl
import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_CROSS_ROAD
import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_TRAFFIC_LIGHT
import com.mogo.eagle.function.biz.v2x.trafficlight.network.TrafficLightNetWorkModel
import mogo.telematics.pad.MessagePad
class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
@@ -30,7 +30,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
private var mContext: Context? = null
private val trafficLightNetWorkModel = TrafficLightNetWorkModel()
private var mLocation: MessagePad.GnssInfo? = null
private var mLocation: MogoLocation? = null
private var roadIDResult: RoadIDResult? = null
private var trafficLightResult: TrafficLightResult? = null
@@ -174,7 +174,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
trafficLightResult = null
}
override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
gnssInfo?.let {
mLocation = it
checkOutOfRange()