diff --git a/config.gradle b/config.gradle index c38f80e8b7..2d94a623cc 100644 --- a/config.gradle +++ b/config.gradle @@ -157,7 +157,7 @@ ext { gpssimulatordebug : "com.mogo.module:module-gps-simulator-debug:${MOGO_MODULE_GPS_SIMULATOR_DEBUG_VERSION}", gpssimulatornoop : "com.mogo.module:module-gps-simulator-noop:${MOGO_MODULE_GPS_SIMULATOR_NOOP_VERSION}", - adasapi : "com.zhidao.autopilot.support:adas:1.0.6.6", + adasapi : "com.zhidao.autopilot.support:adas:1.0.6.7", adasconfigapi : "com.zhidao.adasconfig:adasconfig:1.1.5.2", // 个人中心的SDK diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java index 8c77fbc934..e4d32ec638 100644 --- a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java +++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java @@ -403,4 +403,14 @@ public class DebugConfig { public static void setUseAdasRtkLocationInfo( boolean sIsUseAdasRtkLocationInfo ) { DebugConfig.sIsUseAdasRtkLocationInfo = sIsUseAdasRtkLocationInfo; } + + public static boolean sIsNotSmooth = false; + + public static boolean isNotSmooth() { + return sIsNotSmooth; + } + + public static void setNotSmooth( boolean sIsNotSmooth ) { + DebugConfig.sIsNotSmooth = sIsNotSmooth; + } } diff --git a/foudations/mogo-utils/src/main/java/com/mogo/utils/CoordinateUtils.java b/foudations/mogo-utils/src/main/java/com/mogo/utils/CoordinateUtils.java index 0b7281621a..d75732e362 100644 --- a/foudations/mogo-utils/src/main/java/com/mogo/utils/CoordinateUtils.java +++ b/foudations/mogo-utils/src/main/java/com/mogo/utils/CoordinateUtils.java @@ -1,80 +1,84 @@ package com.mogo.utils; +import org.jetbrains.annotations.NotNull; + +import java.math.BigDecimal; + /** * @author donghongyu */ public class CoordinateUtils { - private static double a = 6378245.0; - private static double ee = 0.00669342162296594323; - - /** - * 手机GPS坐标转火星坐标 - * - * @return - */ - public static double[] transformFromWGSToGCJ( double lat, double lon ) { - - //如果在国外，则默认不进行转换 - if ( outOfChina( lat, lon ) ) { - return new double[]{lat, lon}; - } - double dLat = transformLat( lon - 105.0, lat - 35.0 ); - double dLon = transformLon( lon - 105.0, lat - 35.0 ); - double radLat = lat / 180.0 * Math.PI; - double magic = Math.sin( radLat ); - magic = 1 - ee * magic * magic; - double sqrtMagic = Math.sqrt( magic ); - dLat = ( dLat * 180.0 ) / ( ( a * ( 1 - ee ) ) / ( magic * sqrtMagic ) * Math.PI ); - dLon = ( dLon * 180.0 ) / ( a / sqrtMagic * Math.cos( radLat ) * Math.PI ); - - return new double[]{lat + dLat, lon + dLon}; - } - - public static double transformLat( double x, double y ) { - double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * Math.sqrt( x > 0 ? x : -x ); - ret += ( 20.0 * Math.sin( 6.0 * x * Math.PI ) + 20.0 * Math.sin( 2.0 * x * Math.PI ) ) * 2.0 / 3.0; - ret += ( 20.0 * Math.sin( y * Math.PI ) + 40.0 * Math.sin( y / 3.0 * Math.PI ) ) * 2.0 / 3.0; - ret += ( 160.0 * Math.sin( y / 12.0 * Math.PI ) + 320 * Math.sin( y * Math.PI / 30.0 ) ) * 2.0 / 3.0; - return ret; - } - - public static double transformLon( double x, double y ) { - double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * Math.sqrt( x > 0 ? x : -x ); - ret += ( 20.0 * Math.sin( 6.0 * x * Math.PI ) + 20.0 * Math.sin( 2.0 * x * Math.PI ) ) * 2.0 / 3.0; - ret += ( 20.0 * Math.sin( x * Math.PI ) + 40.0 * Math.sin( x / 3.0 * Math.PI ) ) * 2.0 / 3.0; - ret += ( 150.0 * Math.sin( x / 12.0 * Math.PI ) + 300.0 * Math.sin( x / 30.0 * Math.PI ) ) * 2.0 / 3.0; - return ret; - } - - public static boolean outOfChina( double lat, double lon ) { - if ( lon < 72.004 || lon > 137.8347 ) - return true; - if ( lat < 0.8293 || lat > 55.8271 ) - return true; - return false; - } - - public static final double[] transformGcj02toWgs84( double lat, double lng ) { - double[] var10000; - if ( outOfChina( lat, lng ) ) { - var10000 = new double[]{lng, lat}; - } else { - double dlat = transformLat( lng - 105.0D, lat - 35.0D ); - double dlng = transformLon( lng - 105.0D, lat - 35.0D ); - double radlat = lat / 180.0D * Math.PI; - double magic = Math.sin( radlat ); - magic = ( double ) 1 - 0.006693421622965943D * magic * magic; - double sqrtmagic = Math.sqrt( magic ); - dlat = dlat * 180.0D / ( 6335552.717000426D / ( magic * sqrtmagic ) * Math.PI ); - dlng = dlng * 180.0D / ( 6378245.0D / sqrtmagic * Math.cos( radlat ) * Math.PI ); - double mglat = lat + dlat; - double mglng = lng + dlng; - var10000 = new double[]{lng * ( double ) 2 - mglng, lat * ( double ) 2 - mglat}; - } - - return var10000; - } +// private static double a = 6378245.0; +// private static double ee = 0.00669342162296594323; +// +// /** +// * 手机GPS坐标转火星坐标 +// * +// * @return +// */ +// public static double[] transformFromWGSToGCJ( double lat, double lon ) { +// +// //如果在国外，则默认不进行转换 +// if ( outOfChina( lat, lon ) ) { +// return new double[]{lat, lon}; +// } +// double dLat = transformLat( lon - 105.0, lat - 35.0 ); +// double dLon = transformLon( lon - 105.0, lat - 35.0 ); +// double radLat = lat / 180.0 * Math.PI; +// double magic = Math.sin( radLat ); +// magic = 1 - ee * magic * magic; +// double sqrtMagic = Math.sqrt( magic ); +// dLat = ( dLat * 180.0 ) / ( ( a * ( 1 - ee ) ) / ( magic * sqrtMagic ) * Math.PI ); +// dLon = ( dLon * 180.0 ) / ( a / sqrtMagic * Math.cos( radLat ) * Math.PI ); +// +// return new double[]{lat + dLat, lon + dLon}; +// } +// +// public static double transformLat( double x, double y ) { +// double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * Math.sqrt( x > 0 ? x : -x ); +// ret += ( 20.0 * Math.sin( 6.0 * x * Math.PI ) + 20.0 * Math.sin( 2.0 * x * Math.PI ) ) * 2.0 / 3.0; +// ret += ( 20.0 * Math.sin( y * Math.PI ) + 40.0 * Math.sin( y / 3.0 * Math.PI ) ) * 2.0 / 3.0; +// ret += ( 160.0 * Math.sin( y / 12.0 * Math.PI ) + 320 * Math.sin( y * Math.PI / 30.0 ) ) * 2.0 / 3.0; +// return ret; +// } +// +// public static double transformLon( double x, double y ) { +// double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * Math.sqrt( x > 0 ? x : -x ); +// ret += ( 20.0 * Math.sin( 6.0 * x * Math.PI ) + 20.0 * Math.sin( 2.0 * x * Math.PI ) ) * 2.0 / 3.0; +// ret += ( 20.0 * Math.sin( x * Math.PI ) + 40.0 * Math.sin( x / 3.0 * Math.PI ) ) * 2.0 / 3.0; +// ret += ( 150.0 * Math.sin( x / 12.0 * Math.PI ) + 300.0 * Math.sin( x / 30.0 * Math.PI ) ) * 2.0 / 3.0; +// return ret; +// } +// +// public static boolean outOfChina( double lat, double lon ) { +// if ( lon < 72.004 || lon > 137.8347 ) +// return true; +// if ( lat < 0.8293 || lat > 55.8271 ) +// return true; +// return false; +// } +// +// public static final double[] transformGcj02toWgs84( double lat, double lng ) { +// double[] var10000; +// if ( outOfChina( lat, lng ) ) { +// var10000 = new double[]{lng, lat}; +// } else { +// double dlat = transformLat( lng - 105.0D, lat - 35.0D ); +// double dlng = transformLon( lng - 105.0D, lat - 35.0D ); +// double radlat = lat / 180.0D * Math.PI; +// double magic = Math.sin( radlat ); +// magic = ( double ) 1 - 0.006693421622965943D * magic * magic; +// double sqrtmagic = Math.sqrt( magic ); +// dlat = dlat * 180.0D / ( 6335552.717000426D / ( magic * sqrtmagic ) * Math.PI ); +// dlng = dlng * 180.0D / ( 6378245.0D / sqrtmagic * Math.cos( radlat ) * Math.PI ); +// double mglat = lat + dlat; +// double mglng = lng + dlng; +// var10000 = new double[]{lng * ( double ) 2 - mglng, lat * ( double ) 2 - mglat}; +// } +// +// return var10000; +// } /** * @param lon1 @@ -116,4 +120,84 @@ public class CoordinateUtils { } } + + // ------ + private static final double x_PI = 52.35987755982988D; + private static final double PI = 3.141592653589793D; + private static final double a = 6378245.0D; + private static final double ee = 0.006693421622965943D; + + public static final boolean outOfChina( double lat, double lng ) { + return lng <= 73.66D || lng >= 135.05D || lat <= 3.86D || lat >= 53.55D; + } + + private static final double transformLat( double lng, double lat ) { + double ret = -100.0D + 2.0D * lng + 3.0D * lat + 0.2D * lat * lat + 0.1D * lng * lat + 0.2D * Math.sqrt( Math.abs( lng ) ); + ret += ( 20.0D * Math.sin( 6.0D * lng * 3.141592653589793D ) + 20.0D * Math.sin( 2.0D * lng * 3.141592653589793D ) ) * 2.0D / 3.0D; + ret += ( 20.0D * Math.sin( lat * 3.141592653589793D ) + 40.0D * Math.sin( lat / 3.0D * 3.141592653589793D ) ) * 2.0D / 3.0D; + ret += ( 160.0D * Math.sin( lat / 12.0D * 3.141592653589793D ) + ( double ) 320 * Math.sin( lat * 3.141592653589793D / 30.0D ) ) * 2.0D / 3.0D; + return ret; + } + + private static final double transformLon( double lng, double lat ) { + double ret = 300.0D + lng + 2.0D * lat + 0.1D * lng * lng + 0.1D * lng * lat + 0.1D * Math.sqrt( Math.abs( lng ) ); + ret += ( 20.0D * Math.sin( 6.0D * lng * 3.141592653589793D ) + 20.0D * Math.sin( 2.0D * lng * 3.141592653589793D ) ) * 2.0D / 3.0D; + ret += ( 20.0D * Math.sin( lng * 3.141592653589793D ) + 40.0D * Math.sin( lng / 3.0D * 3.141592653589793D ) ) * 2.0D / 3.0D; + ret += ( 150.0D * Math.sin( lng / 12.0D * 3.141592653589793D ) + 300.0D * Math.sin( lng / 30.0D * 3.141592653589793D ) ) * 2.0D / 3.0D; + return ret; + } + + @NotNull + // World Geodetic System ==> Mars Geodetic System + public static final double[] transformWgsToGcj( double wgLat, double wgLon ) { + double[] point = new double[2]; + if ( outOfChina( wgLat, wgLon ) ) { + point[0] = wgLon; + point[1] = wgLat; + return point; + } else { + double dLat = transformLat( wgLon - 105.0D, wgLat - 35.0D ); + double dLon = transformLon( wgLon - 105.0D, wgLat - 35.0D ); + double radLat = wgLat / 180.0D * 3.141592653589793D; + double magic = Math.sin( radLat ); + magic = ( double ) 1 - 0.006693421622965943D * magic * magic; + double sqrtMagic = Math.sqrt( magic ); + dLat = dLat * 180.0D / ( 6335552.717000426D / ( magic * sqrtMagic ) * 3.141592653589793D ); + dLon = dLon * 180.0D / ( 6378245.0D / sqrtMagic * Math.cos( radLat ) * 3.141592653589793D ); + double mgLat = wgLat + dLat; + double mgLon = wgLon + dLon; + point[0] = dealRound( mgLon ); + point[1] = dealRound( mgLat ); + return point; + } + } + + @NotNull + public static final double[] transformGcj02toWgs84( double lat, double lng ) { + double[] var10000; + if ( outOfChina( lat, lng ) ) { + var10000 = new double[]{lng, lat}; + } else { + double dlat = transformLat( lng - 105.0D, lat - 35.0D ); + double dlng = transformLon( lng - 105.0D, lat - 35.0D ); + double radlat = lat / 180.0D * 3.141592653589793D; + double magic = Math.sin( radlat ); + magic = ( double ) 1 - 0.006693421622965943D * magic * magic; + double sqrtmagic = Math.sqrt( magic ); + dlat = dlat * 180.0D / ( 6335552.717000426D / ( magic * sqrtmagic ) * 3.141592653589793D ); + dlng = dlng * 180.0D / ( 6378245.0D / sqrtmagic * Math.cos( radlat ) * 3.141592653589793D ); + double mglat = lat + dlat; + double mglng = lng + dlng; + var10000 = new double[]{dealRound( lng * ( double ) 2 - mglng ), dealRound( lat * ( double ) 2 - mglat )}; + } + + return var10000; + } + + private static final double dealRound( double value ) { + BigDecimal bg = new BigDecimal( value ); + double result = bg.setScale( 6, 4 ).doubleValue(); + return result; + } + } diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle index 8794206130..fa504e51c5 100644 --- a/libraries/map-custom/build.gradle +++ b/libraries/map-custom/build.gradle @@ -67,7 +67,7 @@ dependencies { implementation project(':foudations:mogo-commons') } - implementation 'com.zhidaoauto.machine:map:1.0.0-vr-7.9.5' + implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.0.5' // implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4' } diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java index b07f2f877b..8515dc0e18 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java @@ -33,6 +33,7 @@ import com.mogo.map.uicontroller.MapControlResult; import com.mogo.utils.TipToast; import com.mogo.utils.UiThreadHandler; import com.mogo.utils.logger.Logger; +import com.mogo.utils.network.utils.GsonUtil; import com.zhidaoauto.map.sdk.open.MapAutoApi; import com.zhidaoauto.map.sdk.open.abs.MapStatusListener; import com.zhidaoauto.map.sdk.open.abs.OnCameraChangeListener; @@ -190,6 +191,7 @@ public class AMapViewWrapper implements IMogoMapView, mMapView.setOnMapTouchListener( this ); mMapView.setOnMapClickListener( this ); mMapView.getLocationClient().registerListener( this ); +// mMapView.getLocationClient().registerGpsListener( this ); mMapView.registerListener( this, MapAutoApi.LISTENER_TYPE_ZOOM ); mMapView.registerListener( this, MapAutoApi.LISTENER_TYPE_ROTATE ); mMapView.registerListener( this, MapAutoApi.LISTENER_TYPE_3D ); @@ -754,7 +756,6 @@ public class AMapViewWrapper implements IMogoMapView, try { mSelfMarker = mMapView.getMapAutoViewHelper().getMyLocationStyle().getSelfMarker(); mSelfMarker.setInfoWindowEnable( true ); - mSelfMarker.setInfoWindowOffset( 0, -200 ); } catch ( Exception e ) { } } @@ -958,7 +959,7 @@ public class AMapViewWrapper implements IMogoMapView, public void rtkEnable( boolean enable ) { try { mRtkEnable = !mRtkEnable; - TipToast.shortTip( mRtkEnable ? "已开启gps道路匹配" : "已开启rtk道路匹配" ); + TipToast.shortTip( mRtkEnable ? "已开启rtk道路匹配" : "已开启gps道路匹配" ); mMapView.getLocationClient().rtkEnable( mRtkEnable ); } catch ( Exception e ) { Logger.e( TAG, e, "rtkEnable" ); @@ -994,7 +995,7 @@ public class AMapViewWrapper implements IMogoMapView, bean.setLon( lon ); bean.setGnss_speed( ( ( float ) speed ) ); bean.setLat( lat ); + Logger.d( "ADASCOOR", "使用rtk定位数据%s", GsonUtil.jsonFromObject( bean ) ); mMapView.getLocationClient().updateRTKAutoPilotLocation( bean ); - Logger.d( TAG, "使用rtk定位数据" ); } } diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/location/ALocationClient.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/location/ALocationClient.java index 0ddfa645ad..fd3b96d834 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/location/ALocationClient.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/location/ALocationClient.java @@ -72,7 +72,7 @@ public class ALocationClient implements IMogoLocationClient { destroyWarming(); return; } - if ( mClient != null && mClient.isStarted() ) { + if ( mClient != null && mClient.isAGpsStarted() ) { mClient.stop(); } } diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java index 9bc315a7b6..a385a74ebc 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java @@ -75,6 +75,7 @@ public class ObjectUtils { .anchor(opt.getU(), opt.getV()) .icons( descriptors ) .period( opt.getPeriod() ) + .controlAngle( opt.isControlAngle() ) .rotateAngle(opt.getRotate()) .setFlat(opt.isFlat()) .visible(opt.isVisible()) diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java index aba47f247f..0ad77d7a28 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java @@ -79,6 +79,17 @@ public class MogoMarkerOptions extends Observable { private boolean mIs3DMode = false; + private boolean mIsControlAngle = false; + + public MogoMarkerOptions controlAngle( boolean controlAngle ) { + this.mIsControlAngle = controlAngle; + return this; + } + + public boolean isControlAngle() { + return mIsControlAngle; + } + public MogoMarkerOptions set3DMode( boolean is3DMode ) { mIs3DMode = is3DMode; return this; diff --git a/modules/mogo-module-back/src/main/java/com/mogo/module/back/BackToLauncherModuleProvider.java b/modules/mogo-module-back/src/main/java/com/mogo/module/back/BackToLauncherModuleProvider.java index 76ad6b0406..eaf4212428 100644 --- a/modules/mogo-module-back/src/main/java/com/mogo/module/back/BackToLauncherModuleProvider.java +++ b/modules/mogo-module-back/src/main/java/com/mogo/module/back/BackToLauncherModuleProvider.java @@ -10,6 +10,7 @@ import androidx.fragment.app.Fragment; import com.alibaba.android.arouter.facade.annotation.Route; import com.mogo.commons.debug.DebugConfig; import com.mogo.module.common.MogoModulePaths; +import com.mogo.module.common.utils.CarSeries; import com.mogo.service.MogoServicePaths; import com.mogo.service.module.IMogoModuleProvider; import com.mogo.service.module.ModuleType; @@ -48,14 +49,11 @@ public class BackToLauncherModuleProvider implements IMogoModuleProvider { @Override public void init( Context context ) { - final String product = DebugConfig.getProductFlavor(); - if ( product != null ) { + if ( CarSeries.isF8xxSeries() ) { + BackToMainHomeManager.addMainHomeView(); + } else { + final String product = DebugConfig.getProductFlavor(); switch ( product ) { - case "f80x": - case "f8xx": - case "f8Amap": - BackToMainHomeManager.addMainHomeView(); - break; case "changanauto": if ( DebugConfig.isDebug() ) { BackToMainHomeManager.addMainHomeView(); 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 9051634f8b..b68ec2476b 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 @@ -1,13 +1,13 @@ package com.mogo.module.common.drawer; import android.content.Context; -import android.os.SystemClock; import android.text.TextUtils; import android.view.LayoutInflater; import android.view.View; import android.widget.ImageView; import com.mogo.commons.AbsMogoApplication; +import com.mogo.commons.debug.DebugConfig; import com.mogo.map.MogoLatLng; import com.mogo.map.marker.IMogoMarker; import com.mogo.map.marker.MogoMarkerOptions; @@ -39,7 +39,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer { mContext = AbsMogoApplication.getApp(); } - private Map< String, MogoLatLng > mLastPositions = new ConcurrentHashMap<>(); + private Map< String, ADASRecognizedListResult > mLastPositions = new ConcurrentHashMap<>(); public static AdasRecognizedResultDrawer getInstance() { if ( sInstance == null ) { @@ -94,36 +94,34 @@ class AdasRecognizedResultDrawer extends BaseDrawer { continue; } mAdasRecognizedMarkersCaches.put( uniqueKey, marker ); - } - - MogoLatLng lastPosition = mLastPositions.get( uniqueKey ); - - List< MogoLatLng > points = new ArrayList<>(); - MogoLatLng endLatLon = null; - if ( recognizedListResult.latLonList != null - && recognizedListResult.latLonList.size() > 1 ) { - for ( int j = 0; j < recognizedListResult.latLonList.size(); j++ ) { - ADASRecognizedListResult.LatLon latLon = recognizedListResult.latLonList.get( j ); - if ( latLon == null ) { - continue; + mLastPositions.put( uniqueKey, recognizedListResult ); + } else { + ADASRecognizedListResult lastPosition = mLastPositions.get( uniqueKey ); + mLastPositions.put( uniqueKey, recognizedListResult ); + if ( lastPosition != null ) { + List< MogoLatLng > points = new ArrayList<>(); + MogoLatLng endLatLon = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon ); + points.add( new MogoLatLng( lastPosition.lat, lastPosition.lon ) ); + points.add( endLatLon ); + if ( DebugConfig.isNotSmooth() ) { + marker.setPosition( recognizedListResult.lat, recognizedListResult.lon ); + } else { + long interval = recognizedListResult.systemTime - lastPosition.systemTime; + if ( interval < 45 ) { + interval = 45; + } + interval -= 25; + marker.startSmoothInMs( points, interval ); } - points.add( endLatLon = new MogoLatLng( latLon.lat, latLon.lon ) ); + } else { + marker.setPosition( recognizedListResult.lat, recognizedListResult.lon ); } - - } else if ( recognizedListResult.latLonList != null - && recognizedListResult.latLonList.size() == 1 ) { - // 原来的点和新的点做一个数组进行平滑移动 - ADASRecognizedListResult.LatLon latLon = recognizedListResult.latLonList.get( 0 ); - if ( latLon == null ) { - continue; - } - points.add( lastPosition ); - points.add( endLatLon = new MogoLatLng( latLon.lat, latLon.lon ) ); - } - mLastPositions.put( uniqueKey, endLatLon ); - if ( points.size() >= 1 ) { - marker.startSmoothInMs( points, 100 ); } + showSelfSpeed( mContext, + marker, + recognizedListResult.speed, + MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() + ); } } @@ -175,9 +173,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer { .owner( DataTypes.TYPE_MARKER_ADAS ) .anchor( 0.5f, 0.5f ) .set3DMode( true ) + .controlAngle( true ) .icon3DRes( getVrModel() ) .rotate( ( float ) recognizedListResult.heading ) - .position( new MogoLatLng( recognizedListResult.latLonList.get( 0 ).lat, recognizedListResult.latLonList.get( 0 ).lon ) ); + .position( new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon ) ); return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_ADAS, options ); } @@ -185,21 +184,4 @@ class AdasRecognizedResultDrawer extends BaseDrawer { return R.raw.carred; } - private View inflateView( ADASRecognizedListResult data, boolean machineVision, double curSpeed ) { - View rootView = LayoutInflater.from( AbsMogoApplication.getApp() ).inflate( R.layout.module_commons_layout_car, null ); -// SafeType safeType = getSafeType( data.distanceX, data.distanceY, data.speed, curSpeed ); -// TextView tv = rootView.findViewById( R.id.module_commons_marker_car_speed ); -// tv.setText( safeType.getMsg() ); - ImageView iv = rootView.findViewById( R.id.module_commons_marker_car_model ); -// iv.setImageResource( MarkerResourceManager.getMarkerDrawableResId( -// machineVision ? VisionMode.Machine : VisionMode.User, -// AdasRecognizedType.valueFrom( data.type ), -// getCarModelType(), -// safeType -// ) ); - - iv.setImageResource( R.drawable.icon_map_marker_car_gray ); - return rootView; - } - } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java index 8536bd14fe..5544ee36a2 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java @@ -21,6 +21,7 @@ import com.mogo.module.common.MogoApisHandler; import com.mogo.module.common.R; import com.mogo.module.common.api.CallChatApi; import com.mogo.module.common.constants.DataTypes; +import com.mogo.module.common.entity.CloudLocationInfo; import com.mogo.module.common.entity.CloudRoadData; import com.mogo.module.common.entity.MogoSnapshotSetData; import com.mogo.service.statusmanager.IMogoStatusChangedListener; @@ -203,10 +204,20 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen } else { List< MogoLatLng > points = new ArrayList<>(); points.add( new MogoLatLng( lastPosition.getLat(), lastPosition.getLon() ) ); - points.add( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ) ); + if ( cloudRoadData.getCoordinates() != null && !cloudRoadData.getCoordinates().isEmpty() ) { + for ( CloudLocationInfo coordinate : cloudRoadData.getCoordinates() ) { + points.add( new MogoLatLng( coordinate.getLat(), coordinate.getLon() ) ); + } + } else { + points.add( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ) ); + } long interval = cloudRoadData.getSystemTime() - lastPosition.getSystemTime(); long interval2 = cloudRoadData.getSatelliteTime() - lastPosition.getSatelliteTime(); interval2 = interval < interval2 || interval2 == 0 ? interval : interval2; + if ( interval2 < 45 ) { + interval2 = 45; + } + interval2 -= 25; marker.startSmoothInMs( points, interval2 ); Logger.d( TAG, "平滑移动 - %s duration = %s", uniqueKey, interval2 ); } @@ -320,6 +331,7 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen .anchor( 0.5f, 0.5f ) .rotate( ( float ) data.getHeading() ) .object( data ) + .controlAngle( true ) .position( new MogoLatLng( data.getLat(), data.getLon() ) ); if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) { options.set3DMode( true ); @@ -342,7 +354,7 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen // return R.raw.bus; case CloudRoadData.FROM_MY_LOCATION: default: - return R.raw.carred; + return R.raw.carblue; } } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java index 323e91753e..dfd339f8eb 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java @@ -2,10 +2,8 @@ package com.mogo.module.common.entity; import android.os.Parcel; import android.os.Parcelable; -import android.text.TextUtils; import com.mogo.commons.debug.DebugConfig; -import com.mogo.map.MogoLatLng; import com.mogo.utils.CoordinateUtils; import java.util.Objects; @@ -43,14 +41,52 @@ public class CloudLocationInfo implements Parcelable { this.speed = info.speed; } - public void convertCoor2GCJ02() { - double[] amapCoord = CoordinateUtils.transformFromWGSToGCJ( lat, lon ); + public void convertCoor2GCJ02(){ + double[] amapCoord = CoordinateUtils.transformWgsToGcj( lat, lon ); if ( amapCoord != null ) { - this.lat = amapCoord[0]; - this.lon = amapCoord[1]; + this.lat = amapCoord[1]; + this.lon = amapCoord[0]; } } + protected CloudLocationInfo( Parcel in ) { + lat = in.readDouble(); + lon = in.readDouble(); + heading = in.readDouble(); + systemTime = in.readLong(); + satelliteTime = in.readLong(); + alt = in.readDouble(); + speed = in.readDouble(); + } + + @Override + public void writeToParcel( Parcel dest, int flags ) { + dest.writeDouble( lat ); + dest.writeDouble( lon ); + dest.writeDouble( heading ); + dest.writeLong( systemTime ); + dest.writeLong( satelliteTime ); + dest.writeDouble( alt ); + dest.writeDouble( speed ); + } + + @Override + public int describeContents() { + return 0; + } + + public static final Creator< CloudLocationInfo > CREATOR = new Creator< CloudLocationInfo >() { + @Override + public CloudLocationInfo createFromParcel( Parcel in ) { + return new CloudLocationInfo( in ); + } + + @Override + public CloudLocationInfo[] newArray( int size ) { + return new CloudLocationInfo[size]; + } + }; + public double getLat() { return lat; } @@ -142,44 +178,4 @@ public class CloudLocationInfo implements Parcelable { public int hashCode() { return Objects.hash( lat, lon ); } - - @Override - public int describeContents() { - return 0; - } - - @Override - public void writeToParcel( Parcel dest, int flags ) { - dest.writeDouble( this.lat ); - dest.writeDouble( this.lon ); - dest.writeDouble( this.heading ); - dest.writeLong( this.systemTime ); - dest.writeLong( this.satelliteTime ); - dest.writeDouble( this.alt ); - dest.writeDouble( this.speed ); - dest.writeInt( this.vehicleType ); - } - - protected CloudLocationInfo( Parcel in ) { - this.lat = in.readDouble(); - this.lon = in.readDouble(); - this.heading = in.readDouble(); - this.systemTime = in.readLong(); - this.satelliteTime = in.readLong(); - this.alt = in.readDouble(); - this.speed = in.readDouble(); - this.vehicleType = in.readInt(); - } - - public static final Creator< CloudLocationInfo > CREATOR = new Creator< CloudLocationInfo >() { - @Override - public CloudLocationInfo createFromParcel( Parcel source ) { - return new CloudLocationInfo( source ); - } - - @Override - public CloudLocationInfo[] newArray( int size ) { - return new CloudLocationInfo[size]; - } - }; } diff --git a/modules/mogo-module-common/src/main/res/raw/carblue.n3d b/modules/mogo-module-common/src/main/res/raw/carblue.n3d new file mode 100644 index 0000000000..7c9212f7b0 Binary files /dev/null and b/modules/mogo-module-common/src/main/res/raw/carblue.n3d differ diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java index 4070427fd0..f7d779f49d 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java @@ -50,6 +50,8 @@ import com.mogo.module.service.strategy.CarIconDisplayStrategy; import com.mogo.module.service.ttsConfig.TtsConfigModleData; import com.mogo.module.service.uploadintime.SnapshotUploadInTime; import com.mogo.service.adas.IMogoADASController; +import com.mogo.service.adas.IMogoAdasCarDataCallback; +import com.mogo.service.adas.entity.ADASCarStateInfo; import com.mogo.service.fragmentmanager.FragmentStackTransactionListener; import com.mogo.service.fragmentmanager.IMogoFragmentManager; import com.mogo.service.intent.IMogoIntentListener; @@ -65,6 +67,8 @@ import com.mogo.utils.NetworkUtils; import com.mogo.utils.WorkThreadHandler; import com.mogo.utils.logger.Logger; +import org.json.JSONObject; + import java.util.List; /** @@ -86,6 +90,7 @@ public class MogoServices implements IMogoMapListener, IMogoVoiceCmdCallBack, FragmentStackTransactionListener, IMogoCarLocationChangedListener2, + IMogoAdasCarDataCallback, IDestroyable { private boolean mInternalUnWakeupRegisterStatus = false; @@ -370,6 +375,7 @@ public class MogoServices implements IMogoMapListener, mIntentManager.registerIntentListener( ConnectivityManager.CONNECTIVITY_ACTION, this ); mADASController = MarkerServiceHandler.getADASController(); + mADASController.setAdasCarDataCallback( this ); mFragmentManager = MarkerServiceHandler.getFragmentManager(); mFragmentManager.addMainFragmentStackTransactionListener( this ); @@ -950,4 +956,25 @@ public class MogoServices implements IMogoMapListener, } } } + + @Override + public void onAdasCarDataCallback( ADASCarStateInfo stateInfo ) { + if ( stateInfo != null && stateInfo.getValues() != null ) { + JSONObject data = new JSONObject(); + try { + data.putOpt( "lon", stateInfo.getValues().getLon() ); + data.putOpt( "lat", stateInfo.getValues().getLat() ); + data.putOpt( "alt", stateInfo.getValues().getAlt() ); + data.putOpt( "speed", stateInfo.getValues().getGnss_speed() ); + data.putOpt( "satelliteTime", stateInfo.getValues().getSatelliteTime() ); + data.putOpt( "heading", stateInfo.getValues().getHeading() ); + data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() ); + data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() ); + MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data ); + SnapshotUploadInTime.getInstance().syncAdasLocationInfo( data ); + } catch ( Exception e ) { + e.printStackTrace(); + } + } + } } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/ADASStatusIntentHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/ADASStatusIntentHandler.java index d9b170fbf7..6d335d0afd 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/ADASStatusIntentHandler.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/ADASStatusIntentHandler.java @@ -9,6 +9,7 @@ import com.mogo.module.service.ServiceConst; import com.mogo.module.service.carinfo.CarStateInfo; import com.mogo.module.service.receiver.MogoReceiver; import com.mogo.module.service.uploadintime.SnapshotUploadInTime; +import com.mogo.utils.logger.Logger; import com.mogo.utils.network.utils.GsonUtil; import org.json.JSONObject; @@ -58,6 +59,7 @@ class ADASStatusIntentHandler implements IntentHandler { if ( TextUtils.isEmpty( msg ) ) { return; } + Logger.d( "ADASCOOR", msg ); CarStateInfo stateInfo = GsonUtil.objectFromJson( msg, CarStateInfo.class ); if ( stateInfo != null && stateInfo.getValues() != null ) { JSONObject data = new JSONObject(); diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java index a8e754d753..b56f86dc19 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java @@ -27,6 +27,8 @@ import com.mogo.module.common.MogoApisHandler; import com.mogo.module.common.dialog.WMDialog; import com.mogo.module.service.MarkerServiceHandler; import com.mogo.module.service.R; +import com.mogo.module.service.uploadintime.SnapshotUploadInTime; +import com.mogo.service.adas.entity.ADASCarStateInfo; import com.mogo.service.entrance.ButtonIndex; import com.mogo.utils.CoordinateUtils; import com.mogo.utils.TipToast; @@ -35,6 +37,11 @@ import com.mogo.utils.logger.Logger; import com.mogo.utils.network.utils.GsonUtil; import com.mogo.utils.storage.SharedPrefsMgr; +import org.json.JSONObject; + +import java.io.BufferedReader; +import java.io.InputStream; +import java.io.InputStreamReader; import java.util.ArrayList; import java.util.List; @@ -434,6 +441,7 @@ public class MockIntentHandler implements IntentHandler { {40.20254135131836, 116.74005889892578}, {40.20252990722656, 116.74007415771484}, {40.20254898071289, 116.74008178710938}, + {40.20254135131836, 116.74005889892578}, {40.20252227783203, 116.74006652832031}, {40.20254898071289, 116.74002838134766}, @@ -467,11 +475,75 @@ public class MockIntentHandler implements IntentHandler { {40.20254135131836, 116.7392807006836}}; for ( double[] coor : coors ) { double lat = coor[0], lon = coor[1]; - double[] translateCoor = CoordinateUtils.transformFromWGSToGCJ( lat, lon ); - double[] originCoor = CoordinateUtils.transformGcj02toWgs84( translateCoor[0], translateCoor[1] ); + double[] translateCoor = CoordinateUtils.transformWgsToGcj( lat, lon ); + double[] originCoor = CoordinateUtils.transformGcj02toWgs84( translateCoor[1], translateCoor[0] ); double delta = CoordinateUtils.calculateLineDistance( lon, lat, originCoor[0], originCoor[1] ); Logger.d( TAG, "偏差值：%s", delta ); } + break; + case 41: + // adb shell am broadcast -a com.mogo.mock --ei oper 41 --ei type 0 平滑移动 + // adb shell am broadcast -a com.mogo.mock --ei oper 41 --ei type 1 直接打点 + DebugConfig.setNotSmooth( intent.getIntExtra( "type", 0 ) == 1 ); + break; + case 42: + WorkThreadHandler.getInstance().post( () -> { + try { + InputStream is = context.getAssets().open( "coors.json" ); + BufferedReader br = new BufferedReader( new InputStreamReader( is ) ); + String line = ""; + List< ADASCarStateInfo > vals = new ArrayList<>(); + while ( ( line = br.readLine() ) != null ) { + String[] json = line.split( " - " ); + long time = Long.valueOf( json[0] ); + ADASCarStateInfo si = GsonUtil.objectFromJson( json[1], ADASCarStateInfo.class ); +// si.getValues().setSatelliteTime( time + "" ); + vals.add( si ); + } + long interval = -1; + ADASCarStateInfo last = null; + for ( ADASCarStateInfo val : vals ) { + if ( last == null ) { + interval = 0; + } else { + interval = Long.valueOf( val.getValues().getSatelliteTime() ) - Long.valueOf( last.getValues().getSatelliteTime() ); + } + last = val; + WorkThreadHandler.getInstance().postDelayed( () -> { + onAdasCarDataCallback( val ); + }, interval ); + } + } catch ( Exception e ) { + e.printStackTrace(); + } + } ); + break; + case 43: + MogoApisHandler.getInstance() + .getApis() + .getAdasControllerApi() + .onAutopilotArriveLike( intent.getIntExtra( "type", 8 ) ); + break; + } + } + + public void onAdasCarDataCallback( ADASCarStateInfo stateInfo ) { + if ( stateInfo != null && stateInfo.getValues() != null ) { + JSONObject data = new JSONObject(); + try { + data.putOpt( "lon", stateInfo.getValues().getLon() ); + data.putOpt( "lat", stateInfo.getValues().getLat() ); + data.putOpt( "alt", stateInfo.getValues().getAlt() ); + data.putOpt( "speed", stateInfo.getValues().getGnss_speed() ); + data.putOpt( "satelliteTime", stateInfo.getValues().getSatelliteTime() ); + data.putOpt( "heading", stateInfo.getValues().getHeading() ); + data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() ); + data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() ); + MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data ); +// SnapshotUploadInTime.getInstance().syncAdasLocationInfo( data ); + } catch ( Exception e ) { + e.printStackTrace(); + } } } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java index 36e4b3cd1f..d89f01ebf5 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java @@ -92,13 +92,13 @@ class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener { locationResult.lastCoordinate = lastInfo; locationResult.mortonCode = MortonCode.wrapEncodeMorton( lastInfo.getLon(), lastInfo.getLat() ); } -// locationResult.coordinates = new ArrayList<>(); + locationResult.coordinates = new ArrayList<>(); locationResult.sn = com.mogo.commons.network.Utils.getSn(); -// if ( cloudLocationInfo == null ) { -// locationResult.coordinates.addAll( new ArrayList<>() ); -// } else { -// locationResult.coordinates.addAll( cloudLocationInfo ); -// } + if ( cloudLocationInfo == null || cloudLocationInfo.isEmpty() ) { + locationResult.coordinates.addAll( new ArrayList<>() ); + } else { + locationResult.coordinates.addAll( cloudLocationInfo ); + } } List< ADASRecognizedResult > recognizedResults = MarkerServiceHandler.getADASController().getLastADASRecognizedResult(); OnePerSecondSendContent content = new OnePerSecondSendContent(); diff --git a/modules/mogo-module-smp/src/main/res/values-xhdpi/dimens.xml b/modules/mogo-module-smp/src/main/res/values-xhdpi/dimens.xml index 461d5da465..abea40f5d9 100644 --- a/modules/mogo-module-smp/src/main/res/values-xhdpi/dimens.xml +++ b/modules/mogo-module-smp/src/main/res/values-xhdpi/dimens.xml @@ -8,8 +8,8 @@ 250px 250px - 1490px - 650px + 1525px + 695px 0px 0px diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java index c2dd021a72..7872f39477 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java @@ -293,10 +293,10 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { if (ObuConfig.useObuLocation) { MogoLocation currentLocation = new MogoLocation(); - double coor[] = CoordinateUtils.transformFromWGSToGCJ(locationInfo.getLat(), locationInfo.getLon()); + double coor[] = CoordinateUtils.transformWgsToGcj(locationInfo.getLat(), locationInfo.getLon()); - currentLocation.setLatitude(coor[0]); - currentLocation.setLongitude(coor[1]); + currentLocation.setLatitude(coor[1]); + currentLocation.setLongitude(coor[0]); currentLocation.setBearing(computeCarAngle(currentLocation)); V2XObuEventScenario.getInstance().updateLocation(currentLocation); 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 638bac5606..5e6f15a468 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 @@ -129,7 +129,16 @@ public interface IMogoADASController extends IProvider { */ void removeAdasRecognizedDataCallback( IMogoAdasRecognizedDataCallback callback ); + /** + * 自车定位数据 + * + * @param carDataCallback + */ + void setAdasCarDataCallback( IMogoAdasCarDataCallback carDataCallback ); + void addAdasOCHCallback( IMogoAdasOCHCallback callback ); void removeAdasOCHCallback(); + + void onAutopilotArriveLike( int type ); } diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java new file mode 100644 index 0000000000..cfdf4d9b20 --- /dev/null +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java @@ -0,0 +1,17 @@ +package com.mogo.service.adas; + +import com.mogo.service.adas.entity.ADASCarStateInfo; + +/** + * adas 自车位置数据回调 + * + * @author tongchenfei + */ +public interface IMogoAdasCarDataCallback { + /** + * adas 数据回调 + * + * @param msg 具体数据 + */ + void onAdasCarDataCallback( ADASCarStateInfo msg ); +} diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java new file mode 100644 index 0000000000..e8ea32512d --- /dev/null +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java @@ -0,0 +1,142 @@ +package com.mogo.service.adas.entity; + +import java.io.Serializable; + +/** + * @author nie yunlong + * @des 车辆状态 + * @date 2020/3/12 + */ +public class ADASCarStateInfo implements Serializable { + + + /** + * action : “state” + * values : {"lon":116.8,"lat":39.4,"alt":22.3,"heading":87.5,"acceleration":0.5,"yaw_rate":0.3} + */ + + private String action; + private ValuesBean values; + + public String getAction() { + return action; + } + + public void setAction(String action) { + this.action = action; + } + + public ValuesBean getValues() { + return values; + } + + public void setValues(ValuesBean values) { + this.values = values; + } + + public static class ValuesBean { + /** + * lon : 116.8 + * lat : 39.4 + * alt : 22.3 + * heading : 87.5 + * acceleration : 0.5 + * yaw_rate : 0.3 + */ + + private double lon; + private double lat; + private double alt; + private double heading; + private double acceleration; + private double yaw_rate; + //惯导车速 m/s + private float gnss_speed; + //gps 时间 + private String satelliteTime; + + public float getGnss_speed() { + return gnss_speed; + } + + public void setGnss_speed( float gnss_speed ) { + this.gnss_speed = gnss_speed; + } + + public String getSatelliteTime() { + return satelliteTime; + } + + public void setSatelliteTime( String satelliteTime ) { + this.satelliteTime = satelliteTime; + } + + public double getLon() { + return lon; + } + + public void setLon(double lon) { + this.lon = lon; + } + + public double getLat() { + return lat; + } + + public void setLat(double lat) { + this.lat = lat; + } + + public double getAlt() { + return alt; + } + + public void setAlt(double alt) { + this.alt = alt; + } + + public double getHeading() { + return heading; + } + + public void setHeading(double heading) { + this.heading = heading; + } + + public double getAcceleration() { + return acceleration; + } + + public void setAcceleration(double acceleration) { + this.acceleration = acceleration; + } + + public double getYaw_rate() { + return yaw_rate; + } + + public void setYaw_rate(double yaw_rate) { + this.yaw_rate = yaw_rate; + } + + @Override + public String toString() { + return "ValuesBean{" + + "lon=" + lon + + ", lat=" + lat + + ", alt=" + alt + + ", heading=" + heading + + ", acceleration=" + acceleration + + ", yaw_rate=" + yaw_rate + + '}'; + } + } + + @Override + public String toString() { + return "CarStateInfo{" + + "action='" + action + '\'' + + ", values=" + values + + '}'; + } +} diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java index 7196126e4b..7c5d8e06b4 100644 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java @@ -39,18 +39,10 @@ class ADASRecognizedListResult { public double distanceY; /** - * 同一个uuid 1s内所对应的连续坐标 + * 同一个uuid 1帧内所对应的坐标 */ - public List< LatLon > latLonList; + public double lon; + public double lat; - public static class LatLon { - - public LatLon( double lat, double lon ) { - this.lat = lat; - this.lon = lon; - } - - public double lat; - public double lon; - } + public long systemTime; } 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 23dbe9b389..1329234417 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 @@ -65,17 +65,17 @@ class AdasObjectUtils { if ( rectBean == null ) { return null; } - if( rectBean.getLat() < 1){ + if ( rectBean.getLat() < 1 ) { return null; } ADASRecognizedResult result = new ADASRecognizedResult(); result.uuid = rectBean.getUuid(); - double amapCoord[] = CoordinateUtils.transformFromWGSToGCJ( rectBean.getLat(), rectBean.getLon() ); + double amapCoord[] = CoordinateUtils.transformWgsToGcj( rectBean.getLat(), rectBean.getLon() ); if ( amapCoord != null ) { - result.lat = amapCoord[0]; - result.lon = amapCoord[1]; + result.lat = amapCoord[1]; + result.lon = amapCoord[0]; } else { result.lat = rectBean.getLat(); result.lon = rectBean.getLon(); @@ -96,37 +96,33 @@ class AdasObjectUtils { if ( datums == null || datums.isEmpty() ) { return null; } - Map< String, ADASRecognizedListResult > result = new HashMap<>(); + List< ADASRecognizedListResult > recognizedListResults = new ArrayList<>(); for ( RectInfo rectInfo : datums ) { if ( rectInfo == null || rectInfo.getModels() == null || rectInfo.getModels().isEmpty() ) { continue; } - List< RectInfo.RectBean > models = rectInfo.getModels(); - for ( RectInfo.RectBean model : models ) { + for ( RectInfo.RectBean model : rectInfo.getModels() ) { if ( model == null || TextUtils.isEmpty( model.getUuid() ) ) { continue; } - ADASRecognizedListResult recognizedListResult = null; - if ( !result.containsKey( model.getUuid() ) ) { - recognizedListResult = new ADASRecognizedListResult(); - recognizedListResult.latLonList = new ArrayList<>(); - recognizedListResult.heading = model.getHeading(); - recognizedListResult.speed = model.getSpeed(); - recognizedListResult.type = Integer.valueOf( model.getType() ); - recognizedListResult.uuid = model.getUuid(); - result.put( model.getUuid(), recognizedListResult ); - } else { - recognizedListResult = result.get( model.getUuid() ); - recognizedListResult.distanceX = model.getDistance_x(); - recognizedListResult.distanceY = model.getDistance_y(); + ADASRecognizedListResult recognizedListResult = new ADASRecognizedListResult(); + recognizedListResult.heading = model.getHeading(); + recognizedListResult.speed = model.getSpeed(); + recognizedListResult.type = Integer.valueOf( model.getType() ); + recognizedListResult.uuid = model.getUuid(); + recognizedListResult.distanceX = model.getDistance_x(); + recognizedListResult.distanceY = model.getDistance_y(); + double amapCoord[] = CoordinateUtils.transformWgsToGcj( model.getLat(), model.getLon() ); + recognizedListResult.lat = amapCoord[1]; + recognizedListResult.lon = amapCoord[0]; + try { + recognizedListResult.systemTime = Long.valueOf( model.getSystemTime() ); + } catch ( Exception e ) { + recognizedListResult.systemTime = System.currentTimeMillis(); } - double amapCoord[] = CoordinateUtils.transformFromWGSToGCJ( model.getLat(), model.getLon() ); - recognizedListResult.latLonList.add( new ADASRecognizedListResult.LatLon( amapCoord[0], amapCoord[1] ) ); + recognizedListResults.add( recognizedListResult ); } } - if ( result.isEmpty() ) { - return null; - } - return new ArrayList<>( result.values() ); + return recognizedListResults; } } diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/LogWriter.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/LogWriter.java new file mode 100644 index 0000000000..5f13ae7ed5 --- /dev/null +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/LogWriter.java @@ -0,0 +1,75 @@ +package com.mogo.service.impl.adas; + +import android.os.Handler; +import android.os.Message; + +import com.mogo.utils.WorkThreadHandler; +import com.mogo.utils.network.utils.GsonUtil; + +import java.io.File; +import java.io.FileWriter; +import java.io.IOException; + +public +/** + * @author congtaowang + * @since 2021/1/22 + * + * 描述 + */ +class LogWriter { + + + public static final int MAX_SIZE = 6 * 1024 * 1924; + + private final String path; + private Handler writeHandler = null; + + public LogWriter( String path ) { + this.path = path; + File file = new File( path ); + if ( !file.exists() ) { + try { + if ( !file.getParentFile().exists() ) { + file.getParentFile().mkdirs(); + } + file.createNewFile(); + } catch ( Exception e ) { + e.printStackTrace(); + } + } + writeHandler = new Handler( WorkThreadHandler.newInstance( "Logger-Writer" ).getLooper() ) { + @Override + public void handleMessage( Message msg ) { + super.handleMessage( msg ); + if ( msg.what == 100 ) { + writeImpl( ( ( String ) msg.obj ) ); + } + } + }; + } + + private void writeImpl( Object log ) { + try { + FileWriter fw = new FileWriter( path, true ); + fw.append( System.currentTimeMillis() + " - " ); + if ( log instanceof CharSequence ) { + fw.append( ( ( CharSequence ) log ) ); + } else { + fw.append( GsonUtil.jsonFromObject( log ) ); + } + fw.append( "\n" ); + fw.flush(); + fw.close(); + } catch ( Exception e ) { + e.printStackTrace(); + } + } + + public void write( Object log ) { + Message msg = Message.obtain(); + msg.obj = log; + msg.what = 100; + writeHandler.sendMessage( msg ); + } +} 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 ff303b9e07..f9e0556a24 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 @@ -20,11 +20,13 @@ import com.mogo.module.common.map.MyLocationUtil; import com.mogo.module.common.utils.CarSeries; import com.mogo.service.MogoServicePaths; import com.mogo.service.adas.IMogoADASController; +import com.mogo.service.adas.IMogoAdasCarDataCallback; import com.mogo.service.adas.IMogoAdasDataCallback; import com.mogo.service.adas.IMogoAdasOCHCallback; 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.ADASRecognizedListResult; import com.mogo.service.adas.entity.ADASRecognizedResult; import com.mogo.service.adas.entity.ADASWarnMessage; @@ -46,6 +48,7 @@ import com.zhidao.autopilot.support.api.IAutopilotServiceStatusListener; import com.zhidao.autopilot.support.api.IAutopolitDataCallBack; import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.bean.CarStateInfo; import com.zhidao.support.adas.high.bean.RectInfo; import com.zhidao.support.adas.high.bean.WarnMessageInfo; import com.zhidao.support.adas.high.msg.MyMessageFactory; @@ -53,8 +56,10 @@ import com.zhidao.support.adas.high.msg.MyMessageFactory; import org.json.JSONException; import org.json.JSONObject; +import java.text.SimpleDateFormat; import java.util.ArrayList; import java.util.Arrays; +import java.util.Date; import java.util.HashMap; import java.util.Iterator; import java.util.List; @@ -108,15 +113,27 @@ public class MogoADASController implements IMogoADASController { */ private List< IMogoAdasRecognizedDataCallback > mMogoAdasRecognizedDataCallbacks = new CopyOnWriteArrayList<>(); + private IMogoAdasCarDataCallback mMogoAdasCarDataCallback; + private RectInfo mLastFrameData; private OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() { + LogWriter logWriter = null; + @Override public void onRectData( RectInfo rectInfo ) { // 物体识别返回 Logger.d( TAG, "onRectData = %s", rectInfo.toString() ); + if ( logWriter == null ) { + SimpleDateFormat sdf = new SimpleDateFormat( "yyyyMMddhhmmss" ); + String date = sdf.format( new Date() ); + String path = context.getExternalCacheDir().getAbsolutePath() + "/adaslog/" + date + "/log.txt"; + Logger.d( TAG, path ); + logWriter = new LogWriter( path ); + } mLastFrameData = rectInfo; + logWriter.write( GsonUtil.jsonFromObject( rectInfo ) ); // 仅在 vr 模式下显示 adas 识别车辆 if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) { return; @@ -315,6 +332,24 @@ public class MogoADASController implements IMogoADASController { ); } } + + LogWriter logWriter; + + @Override + public void ownerCarStateInfo( String ownerCarStateInfo ) { + if ( logWriter == null ) { + SimpleDateFormat sdf = new SimpleDateFormat( "yyyyMMddhhmmss" ); + String date = sdf.format( new Date() ); + String path = context.getExternalCacheDir().getAbsolutePath() + "/adaslog/" + date + "/ownerCarStateInfo.txt"; + Logger.d( TAG, path ); + logWriter = new LogWriter( path ); + } + logWriter.write( ownerCarStateInfo ); + ADASCarStateInfo stateInfo = GsonUtil.objectFromJson( ownerCarStateInfo, ADASCarStateInfo.class ); + if ( mMogoAdasCarDataCallback != null ) { + mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInfo ); + } + } }; AutopilotServiceManage.getInstance().registerAutopilotDataListener( mAutopolitDataCallBack ); } @@ -595,6 +630,11 @@ public class MogoADASController implements IMogoADASController { mMogoAdasRecognizedDataCallbacks.remove( callback ); } + @Override + public void setAdasCarDataCallback( IMogoAdasCarDataCallback carDataCallback ) { + mMogoAdasCarDataCallback = carDataCallback; + } + @Override public void addAdasOCHCallback( IMogoAdasOCHCallback callback ) { @@ -605,4 +645,15 @@ public class MogoADASController implements IMogoADASController { public void removeAdasOCHCallback() { mAdasOCHCallback = null; } + + @Override + public void onAutopilotArriveLike( int carType ) { + if ( mAdasOCHCallback != null ) { + mAdasOCHCallback.onArriveAt( new AdasOCHData( + carType, + 116.09888888, + 39.999999 ) + ); + } + } }