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adas数据通路完善

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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
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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
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@@ -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;