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

adas数据通路完善

Browse Source
This commit is contained in:
suyong
2021-05-11 14:30:04 +08:00
parent 0e4793d9c9
commit 13b134f3a9
8 changed files with 301 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
config.gradle
View File

@@ -240,7 +240,7 @@ ext {
mogoaicloudlive : "com.mogo.cloud:live:${MOGO_LIVE_VERSION}",
mogoaicloudrealtime : "com.mogo.cloud:realtime:${MOGO_REALTIME_VERSION}",
mogoaicloudtanlu : "com.mogo.cloud:tanlu:${MOGO_TANLU_VERSION}",
mogoaicloudtrafficlive : "com.zhidao.support.adas:high:${MOGO_ADASHIGH_VERSION}"
mogoaicloudtrafficlive : "com.mogo.cloud:trafficlive:${MOGO_TRAFFICLIVE_VERSION}",
]
}

2
modules/mogo-module-adas/build.gradle
View File

@@ -45,7 +45,7 @@ dependencies {
// 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
compileOnly rootProject.ext.dependencies.adasapi
api "com.zhidao.support.adas:high:1.1.5.9"
api "com.zhidao.support.adas:high:1.1.7.4"
annotationProcessor rootProject.ext.dependencies.aroutercompiler
if (Boolean.valueOf(RELEASE)) {

44
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasListenerAdapter.java → modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasDataListener.java
View File

@@ -1,5 +1,9 @@
package com.mogo.module.adas;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
@@ -10,11 +14,47 @@ import com.zhidao.support.adas.high.bean.ObstaclesInfo;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import java.util.List;
/**
* Created by XuYong on 2021/4/25 16:52
*/
public abstract class AdasListenerAdapter implements OnAdasListener {
public abstract class AdasDataListener {
public void sendMsg( String msg ) {
}
public void cameraEyeDetectResult( String detectResult ) {
}
public void selectCarModelUrl( String carStyleUrl ) {
}
public void requestGetCarModelListInfo() {
}
public void clickSettingBack() {
}
public void showToast( String msg ) {
}
public void autopilotArrive( AdasAIDLAutopilotArriveModel autopilotArriveModel ) {
}
public void ownerCarStateInfo( String ownerCarStateInfo ) {
}
public void notifyOwnerCarState( AdasAIDLOwnerCarStateModel ownerCarStateModel ) {
}
public void notifyAutopilotState( AdasAIDLAutopilotStateModel autopilotStateModel ) {
}
public void notifyOwnerCarRect( List<AdasAIDLOwnerCarRectModel> ownerCarStateRectList ) {
}
/*
public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
};
@@ -49,5 +89,5 @@ public abstract class AdasListenerAdapter implements OnAdasListener {
public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
};
};*/
}

91
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
View File

@@ -1,6 +1,10 @@
package com.mogo.module.adas;
import com.google.gson.Gson;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.utils.GsonUtil;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
@@ -11,6 +15,7 @@ import com.zhidao.support.adas.high.bean.LightStatueInfo;
import com.zhidao.support.adas.high.bean.ObstaclesInfo;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import com.zhidao.support.adas.high.common.MsgActionType;
import java.util.ArrayList;
@@ -20,18 +25,25 @@ import java.util.ArrayList;
public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusListener {
private final String TAG = "AdasEventManager";
private ArrayList<AdasListenerAdapter> iAdasEventListeners;
private Gson gson;
private ArrayList<AdasDataListener> iAdasEventListeners;
private ArrayList<AdasStatusListener> iAdasStatusListeners;
public void addEventListener(AdasListenerAdapter listener) {
public AdasEventManager() {
gson = GsonUtil.getGson();
}
public void addEventListener(AdasDataListener listener) {
Logger.d(TAG,"添加adas事件监听");
if (iAdasEventListeners == null) {
iAdasEventListeners = new ArrayList<AdasListenerAdapter>();
iAdasEventListeners = new ArrayList<AdasDataListener>();
}
iAdasEventListeners.add(listener);
}
public void removeEventListener(AdasListenerAdapter listener) {
public void removeEventListener(AdasDataListener listener) {
Logger.d(TAG,"注销adas事件监听");
if (iAdasEventListeners != null && iAdasEventListeners.contains(listener)) {
iAdasEventListeners.remove(listener);
@@ -56,9 +68,16 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
@Override
public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
Logger.d(TAG,"onWarnMessage");
for (AdasListenerAdapter listener:iAdasEventListeners) {
//报警model
WarnMessageModel warnMessageModel = null;
for (AdasDataListener listener:iAdasEventListeners) {
if (listener != null) {
listener.onWarnMessage(warnMessageInfo);
if (warnMessageModel == null) {
warnMessageModel = new WarnMessageModel();
warnMessageModel.setAction(MsgActionType.ACTION_WS_MSG_WARNING_TYPE.getmActionType());
}
warnMessageModel.setValues(warnMessageInfo);
listener.cameraEyeDetectResult(gson.toJson(warnMessageModel));
}
}
}
@@ -66,9 +85,8 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
@Override
public void onVideoSize(int width, int height) {
Logger.d(TAG,"onVideoSize");
for (AdasListenerAdapter listener:iAdasEventListeners) {
for (AdasDataListener listener:iAdasEventListeners) {
if (listener != null) {
listener.onVideoSize(width, height);
}
}
}
@@ -76,9 +94,10 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
@Override
public void onRectData(RectInfo rectInfo) {
Logger.d(TAG,"onRectData");
for (AdasListenerAdapter listener:iAdasEventListeners) {
for (AdasDataListener listener:iAdasEventListeners) {
if (listener != null) {
listener.onRectData(rectInfo);
listener.cameraEyeDetectResult(gson.toJson(rectInfo));
}
}
}
@@ -86,9 +105,9 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
@Override
public void onCarStateData(CarStateInfo carStateInfo) {
Logger.d(TAG,"onCarStateData");
for (AdasListenerAdapter listener:iAdasEventListeners) {
for (AdasDataListener listener:iAdasEventListeners) {
if (listener != null) {
listener.onCarStateData(carStateInfo);
listener.ownerCarStateInfo(gson.toJson(carStateInfo));
}
}
}
@@ -96,9 +115,8 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
@Override
public void onLightStateData(LightStatueInfo lightStatueInfo) {
Logger.d(TAG,"onLightStateData");
for (AdasListenerAdapter listener:iAdasEventListeners) {
for (AdasDataListener listener:iAdasEventListeners) {
if (listener != null) {
listener.onLightStateData(lightStatueInfo);
}
}
}
@@ -106,9 +124,8 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
@Override
public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
Logger.d(TAG,"onObstaclesInfo");
for (AdasListenerAdapter listener:iAdasEventListeners) {
for (AdasDataListener listener:iAdasEventListeners) {
if (listener != null) {
listener.onObstaclesInfo(obstaclesInfo);
}
}
}
@@ -116,28 +133,54 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
@Override
public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
Logger.d(TAG,"onCarLaneInfo");
for (AdasListenerAdapter listener:iAdasEventListeners) {
for (AdasDataListener listener:iAdasEventListeners) {
if (listener != null) {
listener.onCarLaneInfo(carLaneInfo);
}
}
}
@Override
public void autopilotStatus(AutopilotStatus autopilotStatus) {
for (AdasListenerAdapter listener:iAdasEventListeners) {
if (listener != null) {
listener.autopilotStatus(autopilotStatus);
AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
AutopilotStatus.ValuesBean mAutopilotStatus;
if (autopilotStatusValues != null) {
AdasAIDLAutopilotStateModel adasAIDLAutopilotStateModel=new AdasAIDLAutopilotStateModel();
adasAIDLAutopilotStateModel.setReason(autopilotStatusValues.getReason());
mAutopilotStatus = autopilotStatusValues;
int state = autopilotStatusValues.getState();
float speed = autopilotStatusValues.getSpeed();
adasAIDLAutopilotStateModel.setState(state);
adasAIDLAutopilotStateModel.setSpeed(speed);
for (AdasDataListener listener:iAdasEventListeners) {
if (listener != null) {
listener.notifyAutopilotState(adasAIDLAutopilotStateModel);
}
}
}
}
@Override
public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
Logger.d(TAG,"autopilotArrive");
for (AdasListenerAdapter listener:iAdasEventListeners) {
if (listener != null) {
listener.autopilotArrive(autopilotWayArrive);
if (autopilotWayArrive != null) {
AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
if (result != null) {
AutopilotWayArrive.ResultBean.EndLatLonBean endLatLon = result.getEndLatLon();
if (endLatLon != null) {
AdasAIDLAutopilotArriveModel adasAIDLAutopilotArriveModel = new AdasAIDLAutopilotArriveModel();
adasAIDLAutopilotArriveModel.setCarType(result.getCarType());
adasAIDLAutopilotArriveModel.setLat(endLatLon.getLat());
adasAIDLAutopilotArriveModel.setLon(endLatLon.getLon());
for (AdasDataListener listener:iAdasEventListeners) {
if (listener != null) {
listener.autopilotArrive(adasAIDLAutopilotArriveModel);
}
}
}
}
}
}

7
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
View File

@@ -8,6 +8,7 @@ import com.mogo.service.MogoServicePaths;
import com.mogo.utils.logger.Logger;
import com.zhidao.support.adas.high.AdasManager;
/**
* ADAS 模块
*
@@ -22,7 +23,7 @@ public class AdasProvider implements IProvider {
@Override
public void init(Context context) {
Logger.d(TAG, "初始化 ADAS 模块");
Logger.d(TAG, "初始化 AdasProvider 模块");
adasEventManager = new AdasEventManager();
initAdas(context, adasEventManager);
@@ -34,11 +35,11 @@ public class AdasProvider implements IProvider {
AdasManager.getInstance().setOnAdasConnectStatusListener(adasEventManager);
}
public void addAdasEventListener(AdasListenerAdapter listener) {
public void addAdasEventListener(AdasDataListener listener) {
adasEventManager.addEventListener(listener);
}
public void removeAdasEventListener(AdasListenerAdapter listener) {
public void removeAdasEventListener(AdasDataListener listener) {
adasEventManager.removeEventListener(listener);
}

31
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/WarnMessageModel.java Normal file
View File

@@ -0,0 +1,31 @@
package com.mogo.module.adas;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
/**
* @author nie yunlong
* @des
* @date 2020/10/22
*/
public class WarnMessageModel {
private String action;
private WarnMessageInfo values;
public String getAction() {
return action;
}
public void setAction(String action) {
this.action = action;
}
public WarnMessageInfo getValues() {
return values;
}
public void setValues(WarnMessageInfo values) {
this.values = values;
}
}

164
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -16,7 +16,7 @@ import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.commons.network.Utils;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.module.adas.AdasListenerAdapter;
import com.mogo.module.adas.AdasDataListener;
import com.mogo.module.adas.AdasProvider;
import com.mogo.module.adas.AdasStatusListener;
import com.mogo.realtime.entity.ADASRecognizedResult;
@@ -48,12 +48,12 @@ import com.zhidao.adasconfig.common.config.EnumCarChatIncognitoMode;
import com.zhidao.adasconfig.common.config.EnumCarHeading;
import com.zhidao.adasconfig.common.config.EnumSkinStyle;
import com.zhidao.autopilot.support.api.AutopilotServiceManage;
import com.zhidao.autopilot.support.api.IAutopilotServiceStatusListener;
import com.zhidao.autopilot.support.api.IAutopolitDataCallBack;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import com.zhidao.support.adas.high.msg.MyMessageFactory;
@@ -94,7 +94,8 @@ public class MogoADASController implements IMogoADASController {
private boolean mIsReleased = true;
private IAutopolitDataCallBack mAutopolitDataCallBack;
//private IAutopolitDataCallBack mAutopolitDataCallBack;
private AdasDataListener mAdasDataListener;
/**
* 获取adas前车距离
@@ -123,9 +124,9 @@ public class MogoADASController implements IMogoADASController {
public void handleMessage( Message msg ) {
super.handleMessage( msg );
if ( msg.obj instanceof List ) {
mAutopolitDataCallBack.notifyOwnerCarRect( ( List< AdasAIDLOwnerCarRectModel > ) msg.obj );
mAdasDataListener.notifyOwnerCarRect( ( List< AdasAIDLOwnerCarRectModel > ) msg.obj );
} else if(msg.obj == null ){
mAutopolitDataCallBack.notifyOwnerCarRect( null );
mAdasDataListener.notifyOwnerCarRect( null );
}
}
};
@@ -158,8 +159,7 @@ public class MogoADASController implements IMogoADASController {
}
};
//private final OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
private final AdasListenerAdapter mOnAdasListener = new AdasListenerAdapter() {
private final OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
@Override
public void onRectData( RectInfo rectInfo ) {
@@ -325,6 +325,7 @@ public class MogoADASController implements IMogoADASController {
} );*/
invokeShowADASOperation();
/*
if ( mAutopolitDataCallBack == null ) {
mAutopolitDataCallBack = new IAutopolitDataCallBack() {
@Override
@@ -468,6 +469,151 @@ public class MogoADASController implements IMogoADASController {
}
};
AutopilotServiceManage.getInstance().registerAutopilotDataListener( mAutopolitDataCallBack );
*/
if ( mAdasDataListener == null ) {
mAdasDataListener = new AdasDataListener() {
@Override
public void sendMsg( String msg ) {
for ( IMogoAdasDataCallback callback : mAdasDataCallbackList ) {
try {
callback.onAdasDataCallback( msg );
} catch ( Exception e ) {
Logger.e( TAG, e, "sendMsg" );
}
}
}
@Override
public void cameraEyeDetectResult( String detectResult ) {
try {
JSONObject jsonObjectWs = new JSONObject( detectResult );
String action = jsonObjectWs.optString( "action" );
if ( TextUtils.isEmpty( action ) ) {
Logger.w( TAG, "--->action is null" );
return;
}
//识别的他车移动操作
mAdasMessageFactory.createMessage( action ).handlerMsg( GsonUtil.getGson(), mOnAdasListener, detectResult );
} catch ( JSONException e ) {
e.printStackTrace();
}
}
@Override
public void selectCarModelUrl( String carStyleUrl ) {
Logger.d( TAG, "selectCarModelUrl: " + carStyleUrl );
needEmphasizeMyLocation = true;
// 修改自车图标展示
SharedPrefsMgr.getInstance( context ).putString( "MY_LOCATION_CONFIG", carStyleUrl );
SingletonsHolder.get( IMogoDataManager.class ).syncData( "ADAS", carStyleUrl );
}
@Override
public void requestGetCarModelListInfo() {
if ( DebugConfig.isMapBased() ) {
Logger.d( TAG, "requestGetCarModelListInfo" );
// 向adas发送车模list
String carModelList = SharedPrefsMgr.getInstance( context ).getString( "CAR_MODEL_LIST", "" );
if ( carModelList != null && !carModelList.isEmpty() ) {
AutopilotServiceManage.getInstance().settingCarModelListInfo( carModelList );
}
// 此处进行网络请求，请求成功后再通知一次adas
requestCarModelList();
}
}
@Override
public void clickSettingBack() {
if ( needEmphasizeMyLocation ) {
SingletonsHolder.get( IMogoDataManager.class ).syncData( "ADAS", null );
}
needEmphasizeMyLocation = false;
useTestSn = !useTestSn;
}
@Override
public void showToast( String msg ) {
UiThreadHandler.post( () -> TipToast.tip( msg ) );
}
@Override
public void autopilotArrive( AdasAIDLAutopilotArriveModel autopilotArriveModel ) {
if ( autopilotArriveModel == null ) {
return;
}
if ( mAdasOCHCallback != null ) {
mAdasOCHCallback.onArriveAt( new AdasOCHData(
autopilotArriveModel.getCarType(),
autopilotArriveModel.getLon(),
autopilotArriveModel.getLat() )
);
}
}
@Override
public void ownerCarStateInfo( String ownerCarStateInfo ) {
Message message = mAdasLocationRecHandler.obtainMessage();
message.obj = ownerCarStateInfo;
message.sendToTarget();
}
@Override
public void notifyOwnerCarState( AdasAIDLOwnerCarStateModel ownerCarStateModel ) {
ADASCarStateInfo stateInf = new ADASCarStateInfo();
stateInf.setAction( "state" );
ADASCarStateInfo.ValuesBean bean = new ADASCarStateInfo.ValuesBean();
bean.setSatelliteTime( ownerCarStateModel.getSatelliteTime() );
bean.setAcceleration( ownerCarStateModel.getAcceleration() );
bean.setAlt( ownerCarStateModel.getAlt() );
bean.setGnss_speed( ownerCarStateModel.getGnss_speed() );
bean.setHeading( ownerCarStateModel.getHeading() );
bean.setLat( ownerCarStateModel.getLat() );
bean.setLon( ownerCarStateModel.getLon() );
bean.setReceiverDataTime( ownerCarStateModel.getReceiverDataTime() );
bean.setSystemTime( ownerCarStateModel.getSystemTime() );
bean.setYaw_rate( ownerCarStateModel.getYaw_rate() );
stateInf.setValues( bean );
mLastLon = ownerCarStateModel.getLon();
mLastLat = ownerCarStateModel.getLat();
mSpeed = ownerCarStateModel.getGnss_speed();
if ( mMogoAdasCarDataCallback != null ) {
mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInf );
}
}
@Override
public void notifyAutopilotState( AdasAIDLAutopilotStateModel autopilotStateModel ) {
Logger.d( TAG, "notifyAutopilotState: " + autopilotStateModel );
DebugConfig.setAutoPilotStatus( autopilotStateModel.getState() + "" );
if ( mAdasOCHCallback != null ) {
mAdasOCHCallback.onStateChanged( autopilotStateModel.getState(), autopilotStateModel.getReason() );
}
}
@Override
public void notifyOwnerCarRect( List< AdasAIDLOwnerCarRectModel > ownerCarStateRectList ) {
// 物体识别返回
Logger.d( TAG, "ADAS-REC-received data: size = %s", ownerCarStateRectList == null ? 0 : ownerCarStateRectList.size() );
final long start = System.currentTimeMillis();
// 仅在 vr 模式下显示 adas 识别车辆
if ( !SingletonsHolder.get( IMogoStatusManager.class ).isVrMode() ) {
return;
}
if ( !SingletonsHolder.get( IMogoStatusManager.class ).isMainPageLaunched() ) {
return;
}
try {
handleAdasRecognizedData( ownerCarStateRectList );
} catch ( Exception e ) {
e.printStackTrace();
}
Logger.i( "ADAS-REC-timer", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
}
};
adasProvider.addAdasEventListener(mAdasDataListener);
}
}
@@ -693,7 +839,7 @@ public class MogoADASController implements IMogoADASController {
@Override
public void release() {
mIsReleased = true;
AutopilotServiceManage.getInstance().unRegisterAutopilotDataListener( mAutopolitDataCallBack );
//AutopilotServiceManage.getInstance().unRegisterAutopilotDataListener( mAutopolitDataCallBack );
AutopilotServiceManage.getInstance().release();
}
@@ -861,6 +1007,6 @@ public class MogoADASController implements IMogoADASController {
@Override
public void mockAdasRecognized( String json ) {
mAutopolitDataCallBack.cameraEyeDetectResult( json );
mAdasDataListener.cameraEyeDetectResult( json );
}
}

1
services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
View File

@@ -1,6 +1,5 @@
package com.mogo.service.impl.adas;
import com.mogo.module.adas.AdasListenerAdapter;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
import com.zhidao.support.adas.high.bean.AutopilotWayArrive;