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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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16
services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
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@@ -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 ) {