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add func of planning objs and updats eagle_track

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This commit is contained in:
zhongchao
2022-06-20 13:38:05 +08:00
parent 71b815e690
commit 246530c61f
21 changed files with 482 additions and 342 deletions
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19
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -14,12 +14,14 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE
@@ -33,6 +35,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListe
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyPlanningObj
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
@@ -102,7 +105,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
//自车定位信息
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
@@ -252,11 +254,22 @@ class MoGoAdasListenerImpl : OnAdasListener {
//点云数据透传
}
//planning障碍物
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS,
linkCode = CHAIN_LINK_ADAS,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onPlanningObjects(
header: MessagePad.Header?,
planningObjects: MessagePad.PlanningObjects?
planningObjects: MessagePad.PlanningObjects
) {
//planning障碍物
if (HdMapBuildConfig.isMapLoaded) {
invokeAutopilotIdentifyPlanningObj(planningObjects.objsList as List<MessagePad.PlanningObject>)
}
}
override fun onBasicInfoReq(

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt
View File

@@ -49,6 +49,8 @@ class TraceManager {
FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_VEHICLE)
fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT] =
FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAFFIC_LIGHT)
fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] =
FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_PLANNING_OBJECTS)
traceInfoCache[ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS] =
ChainLogParam(true, "ADAS连接状态")
@@ -62,6 +64,8 @@ class TraceManager {
ChainLogParam(false, "ADAS车前引导线")
traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE] =
ChainLogParam(false, "ADAS车辆底盘数据")
traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] =
ChainLogParam(false, "ADAS PLANNING 感知障碍物")
FileWriteManager.getInstance()
.init(context, MoGoAiCloudClientConfig.getInstance().sn, pkgName, fwBuildMap)

95
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -138,7 +138,7 @@ class DebugSettingView @JvmOverloads constructor(
private var clickListener: ClickListener? = null
//剪切板
private var clipboardManager: ClipboardManager ?= null
private var clipboardManager: ClipboardManager? = null
private val simpleDateFormat by lazy {
SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS")
@@ -292,10 +292,10 @@ class DebugSettingView @JvmOverloads constructor(
* 开发者模式
*/
swDevelopMode.setOnCheckedChangeListener { _, isChecked ->
if(isChecked){
if (isChecked) {
controlCenterLayout.visibility = View.VISIBLE
commonLayout.visibility = View.GONE
}else{
} else {
controlCenterLayout.visibility = View.GONE
commonLayout.visibility = View.VISIBLE
}
@@ -340,12 +340,12 @@ class DebugSettingView @JvmOverloads constructor(
buttonView.setCompoundDrawables(null, null, iconDown, null)
//展示OBU控制中心
obuControllerLayout.visibility = View.VISIBLE
tbVehicleStateController.isChecked = true
tbVehicleStateController.isChecked = true
} else {
buttonView.setCompoundDrawables(null, null, iconRight, null)
//隐藏OBU控制中心
obuControllerLayout.visibility = View.GONE
tbVehicleStateController.isChecked = false
tbVehicleStateController.isChecked = false
}
}
@@ -550,17 +550,17 @@ class DebugSettingView @JvmOverloads constructor(
FunctionBuildConfig.isRainMode = isChecked
}
//雨天模式按钮只在司机屏生效，乘客屏不显示
if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
tbIsRainMode.visibility = View.GONE
}
//重启工控机所有节点
btnIpcReboot.onClick{
btnIpcReboot.onClick {
CallerAutoPilotManager.sendIpcReboot()
ToastUtils.showLong("重启命令已发送")
}
//只在司机端设置工控机节点重启功能
if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
btnIpcReboot.visibility = View.GONE
}
@@ -636,15 +636,15 @@ class DebugSettingView @JvmOverloads constructor(
}
//设置点云大小
btnPointCloudSize.setOnClickListener{
btnPointCloudSize.setOnClickListener {
val cloudSize = etPointCloudSize.text.toString()
if(cloudSize.isEmpty()){
if (cloudSize.isEmpty()) {
ToastUtils.showShort("请输入正确的点云大小")
}else{
} else {
try {
val cloudSizeFloat = cloudSize.toFloat()
CallerHDMapManager.setPointCloudSize(cloudSizeFloat)
}catch (e: Exception){
} catch (e: Exception) {
ToastUtils.showShort("点云大小格式输入不正确")
}
}
@@ -652,12 +652,12 @@ class DebugSettingView @JvmOverloads constructor(
//设置点云颜色
btnPointCloudColor.setOnClickListener {
val cloudColor = etPointCloudColor.text.toString()
if(cloudColor.isEmpty()){
if (cloudColor.isEmpty()) {
ToastUtils.showShort("请输入正确的点云颜色")
}else{
} else {
try {
CallerHDMapManager.setPointCloudColor(cloudColor)
}catch (e: Exception){
} catch (e: Exception) {
ToastUtils.showShort("点云大小颜色输入不正确")
}
}
@@ -695,34 +695,47 @@ class DebugSettingView @JvmOverloads constructor(
//SN复制按钮
tvPadSnClip.setOnClickListener {
if(clipboardManager==null){
if (clipboardManager == null) {
//获取剪贴板管理器：
clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
clipboardManager =
context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
}
// 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
clipboardManager?.setPrimaryClip(ClipData.newPlainText("MoGoSN",AppConfigInfo.mogoSN))
clipboardManager?.setPrimaryClip(ClipData.newPlainText("MoGoSN", AppConfigInfo.mogoSN))
ToastUtils.showLong("SN复制成功")
}
//工控机镜像复制按钮
tvIpcVersionInfoClip.setOnClickListener{
if(clipboardManager==null){
tvIpcVersionInfoClip.setOnClickListener {
if (clipboardManager == null) {
//获取剪贴板管理器：
clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
clipboardManager =
context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
}
// 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
clipboardManager?.setPrimaryClip(ClipData.newPlainText("DockVersion",mAutoPilotStatusInfo?.dockVersion))
clipboardManager?.setPrimaryClip(
ClipData.newPlainText(
"DockVersion",
mAutoPilotStatusInfo?.dockVersion
)
)
ToastUtils.showLong("docker版本复制成功")
}
//经纬度复制按钮
tvCarInfoCopyClip.setOnClickListener{
if(clipboardManager==null){
tvCarInfoCopyClip.setOnClickListener {
if (clipboardManager == null) {
//获取剪贴板管理器：
clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
clipboardManager =
context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
}
// 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
clipboardManager?.setPrimaryClip(ClipData.newPlainText("LonAndLat","${mGnssInfo?.longitude},${mGnssInfo?.latitude}"))
clipboardManager?.setPrimaryClip(
ClipData.newPlainText(
"LonAndLat",
"${mGnssInfo?.longitude},${mGnssInfo?.latitude}"
)
)
ToastUtils.showLong("经纬度复制成功")
}
@@ -1135,7 +1148,7 @@ class DebugSettingView @JvmOverloads constructor(
if (logTimeStr.isNullOrEmpty()) {
logTimeStr = "10"
}
try{
try {
val logCatchTime = logTimeStr.toInt()
if (logCatchTime > 60) {
tbLogCatch.isChecked = false
@@ -1143,7 +1156,7 @@ class DebugSettingView @JvmOverloads constructor(
return@setOnCheckedChangeListener
}
CallerDevaToolsManager.startCatchLog(logCatchTime)
}catch (e: Exception){
} catch (e: Exception) {
ToastUtils.showLong("输入格式错误，请重新输入正确时间数字，最长抓取时间为60分钟")
etLogCatch.setText("")
}
@@ -1267,7 +1280,7 @@ class DebugSettingView @JvmOverloads constructor(
}
/**
* ADAS车辆地盘数据
* ADAS车辆底盘数据
*/
cbAdasVehicle.setOnCheckedChangeListener { _, isChecked ->
val map = CallerDevaToolsManager.getTraceInfo()
@@ -1278,6 +1291,20 @@ class DebugSettingView @JvmOverloads constructor(
CallerDevaToolsManager.refreshTraceInfo(map)
}
}
/**
* ADAS PLANNING OBJ 感知障碍物
*/
cbAdasPlanningObj.setOnCheckedChangeListener { _, isChecked ->
val map = CallerDevaToolsManager.getTraceInfo()
val param = map[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS]
param?.let {
it.record = isChecked
map[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] = param
CallerDevaToolsManager.refreshTraceInfo(map)
}
}
}
private fun refreshTraceInfo() {
@@ -1524,9 +1551,9 @@ class DebugSettingView @JvmOverloads constructor(
}"
)
if(AppConfigInfo.isConnectAutopilot){
if (AppConfigInfo.isConnectAutopilot) {
tvIpcConnectStatus.minLines = 1
}else{
} else {
tvIpcConnectStatus.minLines = 4
}
@@ -1546,7 +1573,7 @@ class DebugSettingView @JvmOverloads constructor(
}"
)
//如果是乘客端，则不显示工控机连接状态
if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
tvIpcConnectStatus.visibility = View.GONE
tvAutopilotConnectStatus.visibility = View.GONE
}
@@ -1856,8 +1883,8 @@ class DebugSettingView @JvmOverloads constructor(
/**
* 初始化上报
*/
fun reportInit(reportList: ArrayList<ReportEntity>){
if(reportList.size > 0){
fun reportInit(reportList: ArrayList<ReportEntity>) {
if (reportList.size > 0) {
reportMsgLayout.visibility = View.VISIBLE
reportList[0].let {
tvReportSrc.text = "src:${it.src}"

10
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
View File

@@ -1967,6 +1967,16 @@
android:text="ADAS底盘数据"
android:textColor="#000"
android:textSize="@dimen/dp_24" />
<CheckBox
android:id="@+id/cbAdasPlanningObj"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:checked="false"
android:padding="@dimen/dp_10"
android:text="ADAS PLANNING 感知障碍物"
android:textColor="#000"
android:textSize="@dimen/dp_24" />
</LinearLayout>
</LinearLayout>

14
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
View File

@@ -42,9 +42,19 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber, IMoGoAutopi
override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool().execute { IdentifyFactory.getInstance().renderAdasRecognizedResult(trafficData) }
ThreadUtils.getSinglePool().execute { IdentifyFactory.renderAdasRecognizedResult(trafficData) }
} else {
IdentifyFactory.getInstance().clearOldMarker()
IdentifyFactory.clearOldMarker()
}
} catch (e: Exception) {
e.printStackTrace()
}
}
override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool().execute { IdentifyFactory.renderPlanningWarningObj(planningObjects) }
}
} catch (e: Exception) {
e.printStackTrace()

10
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/CircleQueue.java
View File

@@ -1,7 +1,5 @@
package com.mogo.eagle.core.function.map.identify;
import com.mogo.eagle.core.function.map.identify.ObjQueue;
import java.util.List;
import java.util.Vector;
@@ -34,6 +32,14 @@ public class CircleQueue {
return objQueue.subList(objQueue.size() - 3, objQueue.size());
}
public List<ObjQueue> getLastFiveFrame() {
return objQueue.subList(objQueue.size() - 5, objQueue.size());
}
public List<ObjQueue> getPreFrame() {
return objQueue.subList(0, objQueue.size());
}
public ObjQueue getLastFrame() {
return objQueue.lastElement();
}

12
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/Identify.java
View File

@@ -1,12 +0,0 @@
package com.mogo.eagle.core.function.map.identify;
import java.util.List;
import mogo.telematics.pad.MessagePad;
public interface Identify {
void renderAdasRecognizedResult(List<MessagePad.TrackedObject> resultList);
void clearOldMarker();
}

13
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/Identify.kt Normal file
View File

@@ -0,0 +1,13 @@
package com.mogo.eagle.core.function.map.identify
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
interface Identify {
fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?)
fun renderAdasRecognizedResult(resultList: List<TrackedObject>?)
fun clearOldMarker()
}

65
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyBeautifyDataDrawer.java
View File

@@ -1,65 +0,0 @@
package com.mogo.eagle.core.function.map.identify;
import android.annotation.SuppressLint;
import android.util.Log;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.map.MogoMarkerManager;
import com.mogo.module.common.MogoApisHandler;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author xiaoyuzhou
* @date 2021/10/19 10:45 上午
* 域控制器识别信息绘制
*/
public class IdentifyBeautifyDataDrawer implements Identify{
private static final String TAG = "IdentifyDataDrawer";
/**
* 渲染 adas 识别的数据
*
* @param resultList adas感知融合数据
*/
@SuppressLint("NewApi")
@Override
public void renderAdasRecognizedResult(List<MessagePad.TrackedObject> resultList) {
if (resultList == null || resultList.isEmpty()) {
TrackManager.getInstance().clearAll();
CallerLogger.INSTANCE.w(TAG, "感知数据为空无需渲染……");
return;
}
if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
TrackManager.getInstance().clearAll();
CallerLogger.INSTANCE.w(TAG, "渲染 adas 识别的数据 当前不是VR模式");
return;
}
//清除缓存
TrackManager.getInstance().clearCache(resultList);
long cost = System.nanoTime();
ArrayList<MessagePad.TrackedObject> filterList = TrackManager.getInstance().filterTrafficData(resultList);
Log.d("time cost", " " + (System.nanoTime() - cost) / 1000000 + " , 处理了" + resultList.size() + "条数据");
if (filterList.size() > 0) {
// 绘制新数据
MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
.updateBatchMarkerPosition(filterList);
}
}
/**
* 清除旧的 marker 数据
*/
@Override
public void clearOldMarker() {
TrackManager.getInstance().clearAll();
}
}

64
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyBeautifyDataDrawer.kt Normal file
View File

@@ -0,0 +1,64 @@
package com.mogo.eagle.core.function.map.identify
import android.annotation.SuppressLint
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
import com.mogo.map.MogoMarkerManager
import com.mogo.module.common.MogoApisHandler
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
/**
* 域控制器识别信息绘制
*/
class IdentifyBeautifyDataDrawer : Identify {
companion object {
private const val TAG = "IdentifyDataDrawer"
}
override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
TrackManager.getInstance().filterWarningData(planningObjects)
}
/**
* 渲染 adas 识别的数据
*
* @param resultList adas感知融合数据
*/
@SuppressLint("NewApi")
override fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
if (resultList == null || resultList.isEmpty()) {
TrackManager.getInstance().clearAll()
w(TAG, "感知数据为空无需渲染……")
return
}
if (!MogoApisHandler.getInstance().apis.statusManagerApi.isVrMode) {
TrackManager.getInstance().clearAll()
w(TAG, "渲染 adas 识别的数据 当前不是VR模式")
return
}
//清除缓存
TrackManager.getInstance().clearCache(resultList)
// val cost = System.nanoTime()
val filterList = TrackManager.getInstance().filterTrafficData(resultList)
// Log.d(
// "time cost",
// " " + (System.nanoTime() - cost) / 1000000 + " , 处理了" + resultList.size + "条数据"
// )
if (filterList.size > 0) {
// 绘制新数据
MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
.updateBatchMarkerPosition(filterList)
}
}
/**
* 清除旧的 marker 数据
*/
override fun clearOldMarker() {
TrackManager.getInstance().clearAll()
}
}

52
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.java
View File

@@ -1,52 +0,0 @@
package com.mogo.eagle.core.function.map.identify;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import java.util.List;
import mogo.telematics.pad.MessagePad;
public class IdentifyFactory implements Identify {
private static IdentifyFactory identifyFactory;
private static Identify identify;
private static final byte[] obj = new byte[0];
public static final class DriverIdentify {
private static final IdentifyOriginDataDrawer originDataDrawer = new IdentifyOriginDataDrawer();
}
public static final class UserIdentify {
private static final IdentifyBeautifyDataDrawer beautifyDataDrawer = new IdentifyBeautifyDataDrawer();
}
private IdentifyFactory() { //todo 还得加开关做判断
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
identify = UserIdentify.beautifyDataDrawer;
} else {
identify = DriverIdentify.originDataDrawer;
}
}
public static IdentifyFactory getInstance() {
if (identifyFactory == null) {
synchronized (obj) {
if (identifyFactory == null) {
identifyFactory = new IdentifyFactory();
}
}
}
return identifyFactory;
}
@Override
public void renderAdasRecognizedResult(List<MessagePad.TrackedObject> resultList) {
identify.renderAdasRecognizedResult(resultList);
}
@Override
public void clearOldMarker() {
identify.clearOldMarker();
}
}

38
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt Normal file
View File

@@ -0,0 +1,38 @@
package com.mogo.eagle.core.function.map.identify
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
object IdentifyFactory : Identify {
object DriverIdentify {
internal val originDataDrawer = IdentifyOriginDataDrawer()
}
object UserIdentify {
internal val beautifyDataDrawer = IdentifyBeautifyDataDrawer()
}
override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
identify!!.renderPlanningWarningObj(planningObjects)
}
override fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
identify!!.renderAdasRecognizedResult(resultList)
}
override fun clearOldMarker() {
identify!!.clearOldMarker()
}
private var identify: Identify? = null
init { //todo 还得加开关做判断
identify = if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
UserIdentify.beautifyDataDrawer
} else {
DriverIdentify.originDataDrawer
}
}
}

132
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.java
View File

@@ -1,132 +0,0 @@
package com.mogo.eagle.core.function.map.identify;
import android.annotation.SuppressLint;
import android.content.Context;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.map.MogoMarkerManager;
import com.mogo.module.common.MogoApisHandler;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;
import mogo.telematics.pad.MessagePad;
/**
* @author xiaoyuzhou
* @date 2021/10/19 10:45 上午
* 域控制器识别信息绘制
*/
public class IdentifyOriginDataDrawer implements Identify{
private static final String TAG = "IdentifyDataDrawer";
/**
* 上一帧数据的缓存
*/
private static final ConcurrentHashMap<String, MessagePad.TrackedObject> mMarkersCaches = new ConcurrentHashMap<>();
/**
* kalman缓存数据
*/
private static final ConcurrentHashMap<String, KalmanFilter> algoCache = new ConcurrentHashMap<>();
/**
* 记录每次实际绘制的交通元素UUID
*/
private final ArrayList<String> trafficDataUuidList = new ArrayList<>();
/**
* 过滤后的数据集合
*/
private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();
/**
* 渲染 adas 识别的数据
*
* @param resultList adas感知融合数据
*/
@SuppressLint("NewApi")
@Override
public void renderAdasRecognizedResult(List<MessagePad.TrackedObject> resultList) {
if (resultList == null || resultList.isEmpty()) {
clearOldMarker();
CallerLogger.INSTANCE.w(TAG, "感知数据为空无需渲染……");
return;
}
if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
clearOldMarker();
CallerLogger.INSTANCE.w(TAG, "渲染 adas 识别的数据 当前不是VR模式");
return;
}
//清除缓存
for (MessagePad.TrackedObject data : resultList) {
if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
trafficDataUuidList.remove("" + data.getUuid());
}
}
trafficDataUuidList.forEach(uuid -> {
mMarkersCaches.remove(uuid);
algoCache.remove(uuid);
});
ArrayList<MessagePad.TrackedObject> filterList = filterTrafficData(resultList);
if (filterList.size() > 0) {
// 绘制新数据
MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
.updateBatchMarkerPosition(filterList);
}
}
/**
* 数据过滤器
*
* @return 过滤后的数据集合
*/
private ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
mFilterTrafficData.clear();
trafficDataUuidList.clear();
for (MessagePad.TrackedObject data : trafficData) {
// 过滤掉未知感知数据
if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
//CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
continue;
}
String uuid = "" + data.getUuid();
//首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
MessagePad.TrackedObject cacheData = mMarkersCaches.get(uuid);
if (cacheData != null) {
if (data.getSpeed() < 0.5) {
data.toBuilder().setHeading(cacheData.getHeading()).setLongitude(cacheData.getLongitude()).setLatitude(cacheData.getLatitude()).build();
}
mFilterTrafficData.add(data);
//更新已存在的感知物体数据
}
mMarkersCaches.put(uuid, data);
trafficDataUuidList.add(uuid);
}
return mFilterTrafficData;
}
/**
* 清除旧的 marker 数据
*/
@Override
public void clearOldMarker() {
for (String uuid : trafficDataUuidList) {
MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
.removeMarker(uuid);
}
trafficDataUuidList.clear();
}
}

165
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt Normal file
View File

@@ -0,0 +1,165 @@
package com.mogo.eagle.core.function.map.identify
import android.annotation.SuppressLint
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
import com.mogo.map.MogoMarkerManager
import com.mogo.module.common.MogoApisHandler
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import java.util.*
import java.util.concurrent.ConcurrentHashMap
import java.util.function.Consumer
/**
* @author xiaoyuzhou
* @date 2021/10/19 10:45 上午
* 域控制器识别信息绘制
*/
class IdentifyOriginDataDrawer : Identify {
companion object {
private const val TAG = "IdentifyDataDrawer"
}
/**
* 上一帧数据的缓存
*/
private val mMarkersCaches = ConcurrentHashMap<String, TrackedObject>()
/**
* kalman缓存数据
*/
private val algoCache = ConcurrentHashMap<String, KalmanFilter>()
/**
* 记录每次实际绘制的交通元素UUID
*/
private val trafficDataUuidList = ArrayList<String>()
/**
* 过滤后的数据集合
*/
private val mFilterTrafficData = ArrayList<TrackedObject>()
/**
* planning 感知物预警缓存，用于重置color状态
*/
private val colorTrafficData = ArrayList<String>()
//todo reset color
override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
// if (planningObjects == null) {
// if (colorTrafficData.size == 0) {
// return
// }
// colorTrafficData.forEach {
// val cacheData = mMarkersCaches[it] //todo 是否要直接绘制 还是等下一帧
// if (cacheData != null) {
// mMarkersCaches[it] = cacheData.toBuilder().setColor("#D8D8D8FF").build()
// }
// }
// colorTrafficData.clear()
// return
// }
// val tempTrafficData = ArrayList<TrackedObject>()
// planningObjects.forEach {
// val trackId = it.uuid.toString()
// val cacheData = mMarkersCaches[trackId]
// if (cacheData != null) {
// colorTrafficData.add(trackId)
// when (it.type) {
// 0 -> {
// tempTrafficData.add(cacheData.toBuilder().setColor("#FF3C45FF").build())
// }
// 1 -> {
// tempTrafficData.add(cacheData.toBuilder().setColor("#FFD53EFF").build())
// }
// }
// }
// MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
// .updateBatchMarkerPosition(tempTrafficData)
// }
}
/**
* 渲染 adas 识别的数据
*
* @param resultList adas感知融合数据
*/
@SuppressLint("NewApi")
override fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
if (resultList == null || resultList.isEmpty()) {
clearOldMarker()
w(TAG, "感知数据为空无需渲染……")
return
}
if (!MogoApisHandler.getInstance().apis.statusManagerApi.isVrMode) {
clearOldMarker()
w(TAG, "渲染 adas 识别的数据 当前不是VR模式")
return
}
//清除缓存
for (data in resultList) {
if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains("" + data.uuid)) {
trafficDataUuidList.remove("" + data.uuid)
}
}
trafficDataUuidList.forEach(Consumer { uuid: String ->
mMarkersCaches.remove(uuid)
algoCache.remove(uuid)
})
val filterList = filterTrafficData(resultList)
if (filterList.size > 0) {
// 绘制新数据
MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
.updateBatchMarkerPosition(filterList)
}
}
/**
* 数据过滤器
*
* @return 过滤后的数据集合
*/
private fun filterTrafficData(trafficData: List<TrackedObject>): ArrayList<TrackedObject> {
mFilterTrafficData.clear()
trafficDataUuidList.clear()
for (data in trafficData) {
// 过滤掉未知感知数据
if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type) {
//CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
continue
}
val uuid = "" + data.uuid
//首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
val cacheData = mMarkersCaches[uuid]
if (cacheData != null) {
if (data.speed < 0.5) {
data.toBuilder().setHeading(cacheData.heading).setLongitude(cacheData.longitude)
.setLatitude(cacheData.latitude).build()
}
mFilterTrafficData.add(data)
//更新已存在的感知物体数据
}
mMarkersCaches[uuid] = data
trafficDataUuidList.add(uuid)
}
return mFilterTrafficData
}
/**
* 清除旧的 marker 数据
*/
override fun clearOldMarker() {
for (uuid in trafficDataUuidList) {
MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
.removeMarker(uuid)
}
trafficDataUuidList.clear()
}
}

11
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
View File

@@ -1,8 +1,8 @@
package com.mogo.eagle.core.function.map.identify;
import android.content.Context;
import android.os.Build;
import android.util.ArrayMap;
import android.util.Log;
import androidx.annotation.RequiresApi;
@@ -11,8 +11,6 @@ import com.google.common.collect.HashBiMap;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.map.MogoMarkerManager;
import java.text.DecimalFormat;
@@ -34,7 +32,7 @@ public class TrackManager {
public static final DecimalFormat DF = new DecimalFormat("0.000000");
public static final int DISTANCE = 6371000;
public static double LIMIT_SPEED = AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) ? 0.7 : 0.5;
public static double LIMIT_SPEED = 0.5;
/**
* marker缓存队列
@@ -109,6 +107,11 @@ public class TrackManager {
return mFilterTrafficData;
}
//todo reset color
public void filterWarningData(List<MessagePad.PlanningObject> planningObjects) {
}
@RequiresApi(api = Build.VERSION_CODES.N)
public void clearCache(List<MessagePad.TrackedObject> resultList) {
//清除缓存

99
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java
View File

@@ -26,6 +26,8 @@ public class TrackObj {
private double lat;
private double lon;
private double speedAverage;
// private SinglePointRoadInfo singlePointRoadInfo;
// private double[] matchedPoint;
public TrackObj(MessagePad.TrackedObject data) {
kalmanFilter = new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.0000005);
@@ -64,11 +66,17 @@ public class TrackObj {
private void calAverageSpeed() {
//计算平均速度
if (circleQueue.size() >= 3) {
List<ObjQueue> objQueueList = circleQueue.getLastThreeFrame();
speedAverage = (objQueueList.get(0).getSpeed() + objQueueList.get(1).getSpeed() + objQueueList.get(2).getSpeed()) / 3;
if (circleQueue.size() >= 5) {
List<ObjQueue> objQueueList = circleQueue.getLastFiveFrame();
speedAverage = (objQueueList.get(0).getSpeed() + objQueueList.get(1).getSpeed() + objQueueList.get(2).getSpeed() + objQueueList.get(3).getSpeed() + objQueueList.get(4).getSpeed()) / 5;
} else {
speedAverage = circleQueue.getLastFrame().getSpeed();
double cal = 0;
List<ObjQueue> objQueueList = circleQueue.getPreFrame();
for (ObjQueue obj : objQueueList) {
cal += obj.getSpeed();
}
speedAverage = cal / objQueueList.size();
// speedAverage = circleQueue.getLastFrame().getSpeed();
}
}
@@ -77,36 +85,60 @@ public class TrackObj {
//todo bus250 taxi上测试下面注释掉内容
//double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude());
// double distance = s2LatLng.getDistance(S2LatLng.fromDegrees(lonLat[1], lonLat[0])).distance(DISTANCE);
double distance = s2LatLng.getDistance(S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude())).distance(DISTANCE);
// double distance = s2LatLng.getDistance(S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude())).distance(DISTANCE);
//todo 重新计算速度值(如果连续几帧distance累加到一定值，速度没变化，需要重新计算速度，防止锁死)
if (relativeStatic()) {
double tempDis = distance;
if (distance >= 4) { //(150km/h) 41.6m/s x 0.1s = 4.16m 约等于 4
tempDis = 4;
}
double calSpeed = cacheData.getSpeed();
if (cacheData.getSpeed() != 0.0) {
calSpeed = tempDis / ((Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime) / 1000.0);
// Log.d("calSpeed uuid : " + cacheData.getUuid(), " tempDis : " + tempDis + " , 重新赋值 calSpeed : " + DF.format(calSpeed) + " , time : " + (Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime) + " , 原速度 : " + cacheData.getSpeed());
if (calSpeed > cacheData.getSpeed()) {
calSpeed = cacheData.getSpeed();
// Log.d("calSpeed uuid : " + cacheData.getUuid(), " 二次重新赋值 calSpeed : " + DF.format(calSpeed));
}
if (calSpeed > 2) {
calSpeed = 2;
// Log.d("calSpeed uuid : " + cacheData.getUuid(), " 三次重新赋值 calSpeed : " + DF.format(calSpeed));
}
}
cacheData = cacheData.toBuilder().setSpeed(calSpeed).build();
}
// if (relativeStatic()) {
// double tempDis = distance;
// if (distance >= 4) { //(150km/h) 41.6m/s x 0.1s = 4.16m 约等于 4
// tempDis = 4;
// }
// double calSpeed = cacheData.getSpeed();
// if (cacheData.getSpeed() != 0.0) {
// calSpeed = tempDis / ((Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime) / 1000.0);
//// Log.d("calSpeed uuid : " + cacheData.getUuid(), " tempDis : " + tempDis + " , 重新赋值 calSpeed : " + DF.format(calSpeed) + " , time : " + (Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime) + " , 原速度 : " + cacheData.getSpeed());
// if (calSpeed > cacheData.getSpeed()) {
// calSpeed = cacheData.getSpeed();
//// Log.d("calSpeed uuid : " + cacheData.getUuid(), " 二次重新赋值 calSpeed : " + DF.format(calSpeed));
// }
//// if (calSpeed > 2) {
//// calSpeed = 2;
////// Log.d("calSpeed uuid : " + cacheData.getUuid(), " 三次重新赋值 calSpeed : " + DF.format(calSpeed));
//// }
// }
// cacheData = cacheData.toBuilder().setSpeed(calSpeed).build();
// }
//todo 等后序速度优化结果值可用，使用计算结果
// double calDistance = (cacheData.getSpeed() * (Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime)) / 1000.0;
double calDistance = Utils.calculateLineDistance(lon, lat, cacheData.getLongitude(), cacheData.getLatitude());
// double calDistance = Utils.calculateLineDistance(lon, lat, cacheData.getLongitude(), cacheData.getLatitude());
// Log.d("calLoc uuid : " + cacheData.getUuid() + " calDistance : " + DF.format(calDistance), (calDistance * 2 < distance) ? "超出范围" : "正常值");
//速度小于0.5m/s,并且距离在计算合理范围内超出2倍，则认为是相对静止状态(注意调整阈值)，不更新缓存点信息
if (cacheData.getSpeed() < LIMIT_SPEED || relativeStatic() || calDistance * 2 < distance) {
// Log.i("calLoc uuid : " + cacheData.getUuid(), cacheData.getSpeed() < LIMIT_SPEED ? " 减速到静止" : "拉回来了 cal :" + calDistance + " , distance : " + distance + " , lon : " + lon + " , lat : " + lat);
cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
// if (cacheData.getSpeed() < LIMIT_SPEED || relativeStatic() || calDistance * 2 < distance) {
if (relativeStatic()) {
// if (singlePointRoadInfo == null) {
// double angle = roadAngle != 0 ? roadAngle : cacheData.getHeading();
// long cost = System.nanoTime();
// singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(lon, lat, (float) angle, true, true);
// Log.d("hy create cost", " " + (System.nanoTime() - cost) / 1000000);
// }
// if (singlePointRoadInfo != null && singlePointRoadInfo.getCoords() != null && !singlePointRoadInfo.getCoords().isEmpty()) {
// if(matchedPoint == null || matchedPoint.length == 0){
// long cost = System.nanoTime();
// matchedPoint = PointInterpolatorUtil.mergeToRoad(cacheData.getLongitude(), cacheData.getLatitude(), singlePointRoadInfo.getCoords());
// Log.d("hy matchedPoint cost", " " + (System.nanoTime() - cost) / 1000000);
// Log.d("hy uuid : " + cacheData.getUuid(), "道路经纬度 lon : " + matchedPoint[0] + " lat : " + matchedPoint[1] + " distance : " + matchedPoint[2] + " , 原数据 lon : " + lon + " lat : " + lat);
// }else{
// if(matchedPoint[0] == 0 || matchedPoint[1] == 0){
// cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
// }else{
// cacheData = cacheData.toBuilder().setLongitude(matchedPoint[0]).setLatitude(matchedPoint[1]).build();
// }
// }
// lat = matchedPoint[1];
// lon = matchedPoint[0];
// } else {
// Log.d("hy uuid : " + cacheData.getUuid(), "未匹配到道路数据,使用原数据 lon : " + lon + " lat : " + lat);
// }
cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
} else {
//不在阈值内则更新，代表物体移动，使用卡尔曼滤波经纬度数据
lat = cacheData.getLatitude();
@@ -117,7 +149,6 @@ public class TrackObj {
}
}
//todo 对航向角做 10帧 原数据缓存，取众数
private void calHeading() {
double newDelta;
ObjQueue lastObj;
@@ -148,14 +179,14 @@ public class TrackObj {
if (relativeStatic()) {
if (roadAngle != 0.0) {
CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
if (centerLine != null && centerLine.getAngle() != 0 && Math.abs(centerLine.getAngle() - circleQueue.getLastFrame().getHeading()) >= 10) {
//Log.d("calHeading uuid : " + cacheData.getUuid(), " road angle : " + centerLine.getAngle() + " , last heading : " + circleQueue.getLastFrame().getHeading() + " queue size : " + circleQueue.size());
if (centerLine != null && centerLine.getAngle() != 0) {
cacheData = cacheData.toBuilder().setHeading(centerLine.getAngle()).build();
}else{
} else {
// Log.d("hy uuid : " + cacheData.getUuid(), "未获取到道路航向,使用上一帧 : " + circleQueue.getLastFrame().getHeading());
cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
}
} else {
//Log.d("calHeading uuid : " + cacheData.getUuid(), "使用上一帧heading : " + circleQueue.getLastFrame().getHeading());
// Log.d("hy uuid : " + cacheData.getUuid(), "未获取到道路航向,使用上一帧 : " + circleQueue.getLastFrame().getHeading());
cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
}

3
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
View File

@@ -18,6 +18,7 @@ class ChainConstant {
const val CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY = 4
const val CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE = 5
const val CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT = 6
const val CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS = 7
const val CHAIN_LINK_LOG_ADAS_INIT = "-eagleInitStatus"
const val CHAIN_LINK_LOG_ADAS_GNSS = "-adasWsGnssInfo"
@@ -26,6 +27,7 @@ class ChainConstant {
const val CHAIN_LINK_LOG_ADAS_TRAJECTORY = "-adasWsTrajectory"
const val CHAIN_LINK_LOG_ADAS_VEHICLE = "-adasWsVehicle"
const val CHAIN_LINK_LOG_ADAS_TRAFFIC_LIGHT = "-adasWsTrafficLight"
const val CHAIN_LINK_LOG_ADAS_PLANNING_OBJECTS = "-adasWsPlanningObj"
const val CHAIN_ALIAS_CODE_MULTI_CONNECT = "CHAIN_ALIAS_CODE_MULTI_CONNECT"
const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG = "CHAIN_ALIAS_CODE_CAR_CONFIG"
@@ -39,6 +41,7 @@ class ChainConstant {
const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD = "PAD_ADAS_MESSAGE_AUTOPILOT_RECORD"
const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE = "PAD_ADAS_MESSAGE_AUTOPILOT_VEHICLE"
const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT = "PAD_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT"
const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS"
const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN = "PAD_ADAS_MESSAGE_AUTOPILOT_WARN"
const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL"

5
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
View File

@@ -17,6 +17,11 @@ interface IMoGoAutopilotIdentifyListener {
*/
fun onAutopilotIdentifyDataUpdate(trafficData: List<MessagePad.TrackedObject>?) {}
/**
* planning识别感知预警物体
*/
fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?){}
/**
* 报警信息
*

9
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
View File

@@ -68,6 +68,15 @@ object CallerAutopilotIdentifyListenerManager : CallerBase() {
}
}
@Synchronized
fun invokeAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?){
M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
val tag = it.key
val listener = it.value
listener.onAutopilotIdentifyPlanningObj(planningObjects)
}
}
/**
* 报警信息 回调
*/

2
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -142,7 +142,7 @@ message AutopilotState
message PlanningObject
{
uint32 uuid = 1;
uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事
uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事 0是leading障碍物，1是避障和择机的障碍物
}
message PlanningObjects

2
libraries/mogo-map/src/main/java/com/mogo/map/utils/PointInterpolatorUtil.java
View File

@@ -112,7 +112,7 @@ public class PointInterpolatorUtil {
* @param x target point lon
* @param y target point lat
* @param x1 线段起点 lon
* @param y1 起点起点 lat
* @param y1 线段起点 lat
* @param x2 线段终点 lon
* @param y2 线段终点 lat
* @return double[]{footLon,footLat,minDistance} if(footLon == -1) => no foot or foot not in line