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Merge branch 'qa_merge_shunyi_vr_map' into dev2

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# Conflicts:
#	config.gradle
#	modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
#	services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
#	services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
This commit is contained in:
wangcongtao
2021-01-26 09:26:48 +08:00
parent f16d5f9a66 0d0c39af67
commit 233ba7b89f
26 changed files with 707 additions and 229 deletions
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27
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -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();
}
}
}
}

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/ADASStatusIntentHandler.java
View File

@@ -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();

76
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -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();
}
}
}

12
modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java
View File

@@ -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();