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Merge remote-tracking branch 'origin/dev2_aiSdk' into dev2_aiSdk

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董宏宇
2021-04-19 20:06:05 +08:00
parent de3fac9e82 56d0a5b812
commit 1a79d96906
14 changed files with 95 additions and 32 deletions
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8
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
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@@ -131,10 +131,10 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
.longitude(location.getLon())
.set3DMode(true)
.controlAngle(true)
.rotate(rotate);
options.icon3DRes(getModelRes(type));
options.flat(true);
options.anchorColor("#FB3C3CFF");
.rotate(rotate)
.icon3DRes(getModelRes(type))
.anchorColor("#FB3C3CFF")
.flat(true);
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerType, options);
marker.setToTop();
}

1
modules/mogo-module-service/src/main/assets/adas_bike.txt
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@@ -1 +0,0 @@
{"systemTime":1615529718585,"satelliteTime":1615529718585,"lon":116.411411222501,"lat":39.9753341630918,"alt":34.4018669128417,"heading":0.342695406938048,"speed":0.003303937,"type":3,"uuid":"2_1"}

1
modules/mogo-module-service/src/main/assets/adas_person.txt
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@@ -1 +0,0 @@
{"systemTime":1615529718585,"satelliteTime":1615529718585,"lon":116.411411222501,"lat":39.9753341630918,"alt":34.4018669128417,"heading":0.342695406938048,"speed":0.003303937,"type":3,"uuid":"2_1"}

1
modules/mogo-module-service/src/main/assets/adascar0.txt Normal file
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1
modules/mogo-module-service/src/main/assets/adascar1.txt Normal file
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File diff suppressed because one or more lines are too long

1
modules/mogo-module-service/src/main/assets/adascar2.txt Normal file
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65
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
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@@ -625,6 +625,9 @@ public class MockIntentHandler implements IntentHandler {
boolean isUseAdasRecognize = intent.getBooleanExtra( "status", false );
DebugConfig.setUseAdasRecognize( isUseAdasRecognize );
break;
case 54:
mTimeTickCarHandler.sendEmptyMessageDelayed( 1, 0L );
break;
}
}
@@ -679,6 +682,7 @@ public class MockIntentHandler implements IntentHandler {
}
}
private Handler mLocationMockHandler = new Handler( WorkThreadHandler.newInstance( "loc-mock-thread" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
@@ -740,9 +744,28 @@ public class MockIntentHandler implements IntentHandler {
}
roadSizeBr = null;
}
} else if (msg.what == 8) {
try {
handleMockAdasCarIntent();
} catch ( Exception e ) {
try {
if ( readers2 != null ) {
for ( BufferedReader reader : readers2 ) {
if (reader != null) {
reader.close();
}
}
}
} catch ( IOException ex ) {
ex.printStackTrace();
}
readers2 = null;
}
}
}
};
private Handler mLocationMockHandler1 = new Handler( WorkThreadHandler.newInstance( "loc-mock-thread1" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
@@ -780,6 +803,19 @@ public class MockIntentHandler implements IntentHandler {
}
};
private Handler mTimeTickCarHandler = new Handler( WorkThreadHandler.newInstance( "loc-time-mock-thread" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
super.handleMessage( msg );
mLocDelay += 50;
if ( mLocDelay > 4_000L ) {
mLocationMockHandler1.sendEmptyMessageDelayed( 1, 0L );
}
mLocationMockHandler.sendEmptyMessageDelayed( 8, 0L );
mTimeTickCarHandler.sendEmptyMessageDelayed( 0, 50L );
}
};
private BufferedReader br;
private boolean handleMockLocationIntent() throws Exception {
@@ -792,6 +828,7 @@ public class MockIntentHandler implements IntentHandler {
throw new Exception( "end of file." );
}
JSONObject jo = new JSONObject( line );
//改变rtk定位数据，触发自车移动
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( jo );
Log.i( "mock-timer-loc-map", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
SnapshotLocationController.getInstance().syncAdasLocationInfo( jo );
@@ -830,6 +867,7 @@ public class MockIntentHandler implements IntentHandler {
}
private BufferedReader[] readers = null;
private BufferedReader[] readers2 = null;
private boolean handleMockAdasIntent() throws Exception {
final long start = System.currentTimeMillis();
@@ -858,6 +896,33 @@ public class MockIntentHandler implements IntentHandler {
return true;
}
private boolean handleMockAdasCarIntent() throws Exception {
final long start = System.currentTimeMillis();
if ( readers2 == null ) {
readers2 = new BufferedReader[3];
for ( int i = 0; i < 3; i++ ) {
readers2[i] = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adascar" + i + ".txt" ) ) );
}
}
List< ADASRecognizedResult > allList = new ArrayList<>();
for ( BufferedReader reader : readers2 ) {
String line = reader.readLine();
ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
if ( adasRecognizedResult != null ) {
allList.add( adasRecognizedResult );
}
}
AdasRec adasRec = new AdasRec();
adasRec.models = allList;
MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized( GsonUtil.jsonFromObject( adasRec ) );
Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
return true;
}
public static class AdasRec{
public String action = "view";
public List<ADASRecognizedResult> models;

4
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
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@@ -111,7 +111,7 @@ public class V2XWaringManager {
if (v2XWarnMessageListener != null) {
V2XServiceManager
.getMoGoSocketManager()
.unregisterOnMessageListener(10116, v2XWarnMessageListener);
.unregisterOnMessageListener(401018, v2XWarnMessageListener);
}
}
@@ -123,7 +123,7 @@ public class V2XWaringManager {
V2XServiceManager
.getMoGoSocketManager()
.registerOnMessageListener(
10116,
401018,
v2XWarnMessageListener );
}

1
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XWarnMessageListener.java
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@@ -10,6 +10,7 @@ import com.mogo.service.connection.IMogoOnMessageListener;
/**
* desc: 下发的云端预警数据
*
*/
public class V2XWarnMessageListener implements IMogoOnMessageListener<V2XWarningEntity> {

30
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
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@@ -12,14 +12,10 @@ import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.drawer.MarkerDrawer;
import com.mogo.module.common.constants.AdasRecognizedType;
import com.mogo.module.common.drawer.V2XWarnDataDrawer;
import com.mogo.module.common.entity.MarkerShowEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.module.common.utils.Trigonometric;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.ServiceConst;
import com.mogo.module.service.receiver.MogoReceiver;
import com.mogo.module.v2x.MoGoV2XServicePaths;
import com.mogo.module.v2x.V2XConst;
@@ -52,6 +48,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(),
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon()
);
/*
* 自车前方的点,在停止线上--通过自车位置与距离停止线之间的距离计算
* */
@@ -71,7 +68,6 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
@Override
public void analysisV2XCloundDataEvent(V2XWarningEntity cloundWarningInfo) {
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
Log.d(V2XConst.LOG_NAME_WARN, "analysisV2XCloundDataEvent -----> ");
mCloundWarningInfo = cloundWarningInfo;
showTime = mCloundWarningInfo.getShowTime();
pointsBetween();
@@ -274,33 +270,31 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
* 自车为起点绘制(根据设计,前方行人/弱势交通参与者预警 getDirection() == 1 自车与停止线之间为蓝色预警;其他侧方预警自车与预碰撞点之间显示红色预警)
*/
private void drawSlefCarLine(double lon, double lat, float bearing) {
// Log.d("liyz", "-------1-------- isSelfLineClear = " + isSelfLineClear + "--lon =" + lon + "---lat = " + lat);
if (!isSelfLineClear) {
IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
if (mCloundWarningInfo != null) {
MogoLatLng startLatlng = null;
MogoLatLng endLatlng = null;
MogoLatLng addMiddleLoc = null;
if (!isFirstLocation) {
//自车位置
startLatlng = new MogoLatLng(lat, lon);
carLocation = getMogoLat(new MogoLatLng(lat, lon));
endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == 1 ? middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));
Log.d(TAG, "自车为起点绘制 自车;" + startLatlng.lat + "," + startLatlng.lon +
"中间扩展点" + addMiddleLoc.lon + "," + addMiddleLoc.lat + "终点:" + endLatlng.lon + "," + endLatlng.lat);
if (!isFirstLocation) {
carLocation = getMogoLat(new MogoLatLng(lat, lon));
isFirstLocation = true;
}
//自车位置
endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(),
mCloundWarningInfo.getDirection() == 1 ? middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
startLatlng = new MogoLatLng(lat, lon);
float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));
Log.d(TAG, "自车为起点绘制 自车;" + startLatlng.lat + "," + startLatlng.lon +
"中间扩展点" + addMiddleLoc.lon + "," + addMiddleLoc.lat + "终点:" + endLatlng.lon + "," + endLatlng.lat);
if (mogoPolyline != null) {
// Log.d("liyz", "-------2-------- lon =" + lon + "---lat = " + lat);
mogoPolyline.setPoints(Arrays.asList(startLatlng, addMiddleLoc, endLatlng));
mogoPolyline.setTransparency(0.5f);
} else {
// Log.d("liyz", "-------3-------- lon =" + lon + "---lat = " + lat);
DrawLineInfo info = new DrawLineInfo(); // 对象
Log.d(TAG, "安全区域的画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
List locations = new ArrayList();

1
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
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@@ -56,7 +56,6 @@ public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
// 线条粗细，渐变，渐变色值
// 当前车辆位置
options.width(info.getWidth() == 0.0 ? 60 : info.getWidth()).useGradient(true).colorValues(colors);
// options.width(60).useGradient(true).colorValues(colors);
List<MogoLatLng> locations = info.getLocations();
for (int i = 0; i < locations.size(); i++) {
options.add(locations.get(i));

8
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
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@@ -95,7 +95,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
.getMogoTopViewManager()
.addView(getV2XWindow().getView(), layoutParams, this);
getV2XWindow().show(mMarkerEntity);
getV2XMarker().drawPOI(mMarkerEntity);
// getV2XMarker().drawPOI(mMarkerEntity);
}
}
@@ -116,8 +116,10 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopV
@Override
public void drawPOI() {
getV2XMarker().drawPOI(mMarkerEntity);
Log.d(TAG, "drawPOI");
if (getV2XMarker() != null) {
getV2XMarker().drawPOI(mMarkerEntity);
Log.d(TAG, "drawPOI");
}
}
@Override

4
modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json
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@@ -1,7 +1,7 @@
{
"type": 10013,
"lat": 39.977148,
"lon": 116.417478,
"lon": 116.417886,
"distance": 2,
"collisionLat": 39.977094,
"collisionLon": 116.417634,
@@ -17,7 +17,7 @@
],
"from": 1,
"angle": 0,
"direction": 2,
"direction": 3,
"speed": 11.108121,
"targetColor": "#FF4040",
"stopLineDistance": 60,

1
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
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@@ -330,6 +330,7 @@ public class MogoADASController implements IMogoADASController {
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();