From 177d31ce7fb694f9fd9ca0c0f7f113bb72ad7bb7 Mon Sep 17 00:00:00 2001 From: zhongchao Date: Wed, 24 Feb 2021 16:21:45 +0800 Subject: [PATCH] replace AdasRecognizedResult data and update CoordiateUtils in sdk --- gradle.properties | 14 +-- .../drawer/AdasRecognizedResultDrawer.java | 14 +-- .../service/websocket/LocationResult.java | 41 --------- .../websocket/OnePerSecondSendContent.java | 25 ----- services/mogo-service-api/build.gradle | 2 + .../service/adas/IMogoADASController.java | 4 +- .../adas/IMogoAdasRecognizedDataCallback.java | 5 +- .../adas/entity/ADASRecognizedResult.java | 91 ------------------- .../service/impl/adas/AdasObjectUtils.java | 16 ++-- .../service/impl/adas/MogoADASController.java | 26 +++--- 10 files changed, 41 insertions(+), 197 deletions(-) delete mode 100644 modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/LocationResult.java delete mode 100644 modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/OnePerSecondSendContent.java delete mode 100644 services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java diff --git a/gradle.properties b/gradle.properties index dcd5827f53..8a1e0923da 100644 --- a/gradle.properties +++ b/gradle.properties @@ -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 diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java index 7764049e38..e362695589 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java @@ -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(); } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/LocationResult.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/LocationResult.java deleted file mode 100644 index ad6c167c2d..0000000000 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/LocationResult.java +++ /dev/null @@ -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; -} diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/OnePerSecondSendContent.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/OnePerSecondSendContent.java deleted file mode 100644 index 9324bc2b52..0000000000 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/OnePerSecondSendContent.java +++ /dev/null @@ -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; -} diff --git a/services/mogo-service-api/build.gradle b/services/mogo-service-api/build.gradle index 074c7bcd16..c5a2a011c6 100644 --- a/services/mogo-service-api/build.gradle +++ b/services/mogo-service-api/build.gradle @@ -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)) { diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java index 681c561fd7..53178cf254 100644 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java @@ -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 getLastADASRecognizedResult(); /** * 添加adas识别物体回调 diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java index ff92b13160..37ebe3c140 100644 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java @@ -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 resultList ); } \ No newline at end of file diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java deleted file mode 100644 index aab85f8084..0000000000 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java +++ /dev/null @@ -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; -} diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java index 722fac79e4..0f7ae9f898 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java @@ -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 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(); 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 bb1357df3d..661f4c5059 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 @@ -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 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 ) {