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replace AdasRecognizedResult data and update CoordiateUtils in sdk

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zhongchao
2021-02-24 16:21:45 +08:00
parent 14561b90b3
commit 177d31ce7f
10 changed files with 41 additions and 197 deletions
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14
gradle.properties
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@@ -155,19 +155,19 @@ LOGLIB_VERSION = 1.0.4
######## MogoAiCloudSDK Version
# 网络请求
MOGO_NETWORK_VERSION=1.0.39-SNAPSHOT
MOGO_NETWORK_VERSION=1.0.40-SNAPSHOT
# 鉴权
MOGO_PASSPORT_VERSION=1.0.39-SNAPSHOT
MOGO_PASSPORT_VERSION=1.0.40-SNAPSHOT
# 常链接
MOGO_SOCKET_VERSION=1.0.39-SNAPSHOT
MOGO_SOCKET_VERSION=1.0.40-SNAPSHOT
# 数据采集
MOGO_REALTIME_VERSION=1.0.39-SNAPSHOT
MOGO_REALTIME_VERSION=1.0.40-SNAPSHOT
# 探路，道路事件发布，获取
MOGO_TANLU_VERSION=1.0.39-SNAPSHOT
MOGO_TANLU_VERSION=1.0.40-SNAPSHOT
# 直播推流
MOGO_LIVE_VERSION=1.0.39-SNAPSHOT
MOGO_LIVE_VERSION=1.0.40-SNAPSHOT
# 直播拉流
MOGO_TRAFFICLIVE_VERSION=1.0.39-SNAPSHOT
MOGO_TRAFFICLIVE_VERSION=1.0.40-SNAPSHOT
######## Foundation MogoAiCloud Module
# mogoAiCloud apk services

14
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
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@@ -11,7 +11,7 @@ import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.ADASRecognizedResult;
import java.util.ArrayList;
import java.util.HashMap;
@@ -30,13 +30,13 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
private static volatile AdasRecognizedResultDrawer sInstance;
private Context mContext;
private final Context mContext;
private AdasRecognizedResultDrawer() {
mContext = AbsMogoApplication.getApp();
}
private Map< String, ADASRecognizedResult > mLastPositions = new ConcurrentHashMap<>();
private final Map< String, ADASRecognizedResult> mLastPositions = new ConcurrentHashMap<>();
public static AdasRecognizedResultDrawer getInstance() {
if ( sInstance == null ) {
@@ -59,7 +59,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
// adas marker 缓存
private Map< String, IMogoMarker > mAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
private final Map< String, IMogoMarker > mAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
public boolean hasCached( String uniqueKey ) {
return mAdasRecognizedMarkersCaches.containsKey( uniqueKey );
@@ -131,7 +131,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
/**
* 过滤adas数据中，不存在的 marker
*
* @param resultList
* @param resultList ADAS结果集
*/
private void purgeAdasRecognizedData( List< ADASRecognizedResult > resultList ) {
if ( resultList == null || resultList.isEmpty() ) {
@@ -156,7 +156,9 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
mLastPositions.remove( key );
try {
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( key );
marker.destroy();
if(marker != null){
marker.destroy();
}
} catch ( Exception e ) {
e.printStackTrace();
}

41
modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/LocationResult.java
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@@ -1,41 +0,0 @@
package com.mogo.module.service.websocket;
import com.mogo.realtime.entity.CloudLocationInfo;
import java.util.List;
public
/*
* @author congtaowang
* @since 2020/10/25
*
* 自车定位信息
*/
class LocationResult {
/**
* sn
*/
public String sn;
/**
* 最后一个定位点的莫顿码
*/
public long mortonCode;
/**
* 最后一个定位点
*/
public CloudLocationInfo lastCoordinate;
/**
* 连续定位点
*/
public List< CloudLocationInfo > coordinates;
/**
* 数据来源精度 0 - 普通定位、1 - 高精定位
*/
public int dataAccuracy = 0;
}

25
modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/OnePerSecondSendContent.java
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@@ -1,25 +0,0 @@
package com.mogo.module.service.websocket;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import java.util.List;
public
/**
* @author congtaowang
* @since 2020/10/25
*
* 一秒一次的上行数据
*/
class OnePerSecondSendContent {
/**
* 自车定位点
*/
public LocationResult self;
/**
* adas 识别物体：1s 识别到的最后帧
*/
public List< ADASRecognizedResult > adas;
}

2
services/mogo-service-api/build.gradle
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@@ -40,6 +40,8 @@ dependencies {
api rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.arouter
annotationProcessor rootProject.ext.dependencies.aroutercompiler
api rootProject.ext.dependencies.mogoaicloudrealtime
api rootProject.ext.dependencies.fresco
api 'com.mogo.module:module-crash-warning:1.1.0'
if (Boolean.valueOf(RELEASE)) {

4
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
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@@ -2,7 +2,7 @@ package com.mogo.service.adas;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.ADASRecognizedResult;
import java.util.List;
@@ -113,7 +113,7 @@ public interface IMogoADASController extends IProvider {
*
* @return
*/
List< ADASRecognizedResult > getLastADASRecognizedResult();
List<ADASRecognizedResult> getLastADASRecognizedResult();
/**
* 添加adas识别物体回调

5
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
View File

@@ -1,6 +1,7 @@
package com.mogo.service.adas;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.ADASRecognizedResult;
import java.util.List;
@@ -15,5 +16,5 @@ public interface IMogoAdasRecognizedDataCallback {
*
* @param resultList 具体识别的物体数据
*/
void onAdasDataCallback( List< ADASRecognizedResult > resultList );
void onAdasDataCallback( List<ADASRecognizedResult> resultList );
}

91
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java
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@@ -1,91 +0,0 @@
package com.mogo.service.adas.entity;
public
/**
* @author congtaowang
* @since 2020/10/25
*
* adas 识别物体参数
*/
class ADASRecognizedResult {
/**
* 识别物体类型
*/
public int type;
/**
* 识别物体唯一标识
*/
public String uuid;
/**
* 红绿灯颜色
*/
public String color;
/**
*
*/
public String carId;
/**
* 识别物体的纬度
*/
public double lat;
/**
* 识别物体的经度
*/
public double lon;
/**
* 朝向
*/
public double heading;
/**
* 系统时间
*/
public long systemTime;
/**
* 定位卫星时间
*/
public long satelliteTime;
/**
* 海拔
*/
public double alt;
/**
* 速度
*/
public double speed;
/**
* 莫顿码
*/
public long mortonCode;
/**
* x 轴距离
*/
public double distanceX;
/**
* y 轴距离
*/
public double distanceY;
/**
* 实际直线距离
*/
public double distance;
/**
* 数据来源精度 0 - 普通定位、1 - 高精定位
*/
public int dataAccuracy;
}

16
services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
View File

@@ -1,7 +1,7 @@
package com.mogo.service.impl.adas;
import com.mogo.commons.utils.MortonCode;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASWarnMessage;
import com.mogo.utils.CoordinateUtils;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
@@ -11,7 +11,7 @@ import java.util.ArrayList;
import java.util.List;
public
/**
/*
* @author congtaowang
* @since 2020/10/25
*
@@ -27,7 +27,7 @@ class AdasObjectUtils {
warnMessage.content = info.getContent();
warnMessage.level = info.getLevel();
try {
warnMessage.type = Integer.valueOf( info.getType() );
warnMessage.type = Integer.parseInt( info.getType() );
} catch ( NumberFormatException e ) {
return null;
}
@@ -35,7 +35,7 @@ class AdasObjectUtils {
return warnMessage;
}
public static List< ADASRecognizedResult > regroupData( List< AdasAIDLOwnerCarRectModel > datums ) {
public static List<ADASRecognizedResult> regroupData(List< AdasAIDLOwnerCarRectModel > datums ) {
if ( datums == null || datums.isEmpty() ) {
return null;
}
@@ -59,7 +59,7 @@ class AdasObjectUtils {
ADASRecognizedResult result = new ADASRecognizedResult();
result.uuid = model.getUuid();
double amapCoord[] = CoordinateUtils.transformWgsToGcj( model.getLat(), model.getLon() );
double[] amapCoord = CoordinateUtils.transformWgsToGcj( model.getLat(), model.getLon() );
if ( amapCoord != null ) {
result.lat = amapCoord[1];
result.lon = amapCoord[0];
@@ -67,10 +67,10 @@ class AdasObjectUtils {
result.lat = model.getLat();
result.lon = model.getLon();
}
result.type = Integer.valueOf( model.getType() );
result.type = Integer.parseInt( model.getType() );
result.heading = model.getHeading();
result.systemTime = Long.valueOf( model.getSystemTime() );
result.satelliteTime = Long.valueOf( model.getSatelliteTime() );
result.systemTime = Long.parseLong( model.getSystemTime() );
result.satelliteTime = Long.parseLong( model.getSatelliteTime() );
result.alt = model.getAlt();
result.color = model.getColor();
result.speed = model.getSpeed();

26
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -13,6 +13,7 @@ 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.realtime.entity.ADASRecognizedResult;
import com.mogo.service.MogoServicePaths;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
@@ -22,7 +23,6 @@ import com.mogo.service.adas.IMogoAdasRecognizedDataCallback;
import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.ADASCarStateInfo;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASWarnMessage;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.service.adas.entity.CarModelListResponse;
@@ -57,7 +57,6 @@ import org.json.JSONObject;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import java.util.concurrent.CopyOnWriteArrayList;
@@ -85,7 +84,7 @@ public class MogoADASController implements IMogoADASController {
public static final String VAL_OPEN = "打开";
public static final String VAL_CLOSE = "关闭";
private IMogoStatusManager mStatusManager = SingletonsHolder.get( IMogoStatusManager.class );
private final IMogoStatusManager mStatusManager = SingletonsHolder.get( IMogoStatusManager.class );
private boolean mIsReleased = true;
@@ -94,23 +93,23 @@ public class MogoADASController implements IMogoADASController {
/**
* 获取adas前车距离
*/
private List< IMogoAdasDataCallback > mAdasDataCallbackList = new CopyOnWriteArrayList<>();
private final List< IMogoAdasDataCallback > mAdasDataCallbackList = new CopyOnWriteArrayList<>();
/**
* adas 报警数据回调
*/
private List< IMogoAdasWarnMessageCallback > mMogoAdasWarnMessageCallbackList = new CopyOnWriteArrayList<>();
private final List< IMogoAdasWarnMessageCallback > mMogoAdasWarnMessageCallbackList = new CopyOnWriteArrayList<>();
/**
* adas 识别物体回调
*/
private List< IMogoAdasRecognizedDataCallback > mMogoAdasRecognizedDataCallbacks = new CopyOnWriteArrayList<>();
private final List< IMogoAdasRecognizedDataCallback > mMogoAdasRecognizedDataCallbacks = new CopyOnWriteArrayList<>();
private IMogoAdasCarDataCallback mMogoAdasCarDataCallback;
private List< AdasAIDLOwnerCarRectModel > mLastFrameData;
private OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
private final OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
@Override
public void onRectData( RectInfo rectInfo ) {
@@ -131,11 +130,9 @@ public class MogoADASController implements IMogoADASController {
return;
}
UiThreadHandler.post( () -> {
Iterator< IMogoAdasWarnMessageCallback > iMogoAdasWarnMessageCallbackIterator = mMogoAdasWarnMessageCallbackList.iterator();
while ( iMogoAdasWarnMessageCallbackIterator.hasNext() ) {
IMogoAdasWarnMessageCallback callback = iMogoAdasWarnMessageCallbackIterator.next();
if ( callback != null ) {
callback.onReceiveData( warnMessage );
for (IMogoAdasWarnMessageCallback callback : mMogoAdasWarnMessageCallbackList) {
if (callback != null) {
callback.onReceiveData(warnMessage);
}
}
} );
@@ -160,8 +157,7 @@ public class MogoADASController implements IMogoADASController {
}
private void invokeCallbackPerSecond( List< AdasAIDLOwnerCarRectModel > models ) {
List< AdasAIDLOwnerCarRectModel > newRef = models;
List< ADASRecognizedResult > recognizedListResults = AdasObjectUtils.regroupData( newRef );
List<ADASRecognizedResult> recognizedListResults = AdasObjectUtils.regroupData(models);
if ( !mMogoAdasRecognizedDataCallbacks.isEmpty() ) {
for ( IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks ) {
if ( callback == null ) {
@@ -624,7 +620,7 @@ public class MogoADASController implements IMogoADASController {
try {
List< AdasAIDLOwnerCarRectModel > data = new ArrayList<>( mLastFrameData );
mLastFrameData = null;
List< ADASRecognizedResult > recognizedResultList = null;
List< ADASRecognizedResult > recognizedResultList;
recognizedResultList = AdasObjectUtils.regroupData( data );
return recognizedResultList;
} catch ( Exception e ) {