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Merge branch 'dev_robotaxi-d-app-module_280_220608_2.8.0' into dev_robotaxi-d-app-module_280_taxi_passenger

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yangyakun
2022-06-24 14:19:53 +08:00
parent de986bc5f8 1471bed2af
commit 2df50f3118
10 changed files with 57 additions and 58 deletions
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4
app_ipc_monitoring/build.gradle
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@@ -63,14 +63,14 @@ dependencies {
implementation rootProject.ext.dependencies.material
implementation rootProject.ext.dependencies.androidxconstraintlayout
implementation rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.androidxrecyclerview
implementation "androidx.recyclerview:recyclerview:1.2.0"
testImplementation 'junit:junit:4.13.2'
androidTestImplementation 'androidx.test.ext:junit:1.1.3'
androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
implementation rootProject.ext.dependencies.gson
implementation project(':libraries:mogo-adas')
implementation project(':libraries:mogo-adas-other')
// implementation 'com.zhidao.support.adas:high:2.7.0.0'
// implementation 'com.zhidao.support.adas:high:2.8.0.0'
// implementation 'com.zhjt.mogo.adas.data:adas-data:2.6.6.0'
compileOnly project(':core:mogo-core-data')
implementation project(':core:mogo-core-utils')

2
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -247,11 +247,11 @@ class MoGoAdasListenerImpl : OnAdasListener {
override fun onPointCloud(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
//点云数据透传
//Logger.d("pointCloud","pointCloud"+pointCloud);
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header,pointCloud)
}
override fun onPointCloud(pointCloud: ByteArray?) {
//点云数据透传
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(pointCloud)
}
//planning障碍物

16
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
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@@ -4,10 +4,8 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
import com.zhidao.support.adas.high.common.PointCloudDecoder
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
import mogo.telematics.pad.MessagePad
import rule_segement.MogoPointCloudOuterClass
/**
* 订阅点云数据
@@ -40,14 +38,16 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
CallerAutopilotPointCloudListenerManager.removeListener(TAG)
}
override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
override fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) {
// 根据配置动态控制点云是否绘制
if (FunctionBuildConfig.isDrawPointCloudData) {
if (!isDrawPointCloud) {
Logger.d(TAG, "====开启点云渲染====")
isDrawPointCloud = true
PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
}
val data = PointCloudDecoder.decode(header, pointCloud)
PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
/**
* 更新点云数据
@@ -57,13 +57,15 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
* @param isStrong 是否加粗显示
* @return 是否执行
*/
val result = PointCloudHelper.updatePointCloudData(data, false, true, true)
Logger.d(TAG, "====开始传入地图点云数据====")
val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, false, true, true)
Logger.d(TAG, "====结束传入地图点云数据=====$result")
} else {
if (isDrawPointCloud) {
Logger.d(TAG, "====停止点云绘制====")
isDrawPointCloud = false
PointCloudHelper.setIsDrawPointCloud(false)//停止点云绘制
}
}
//Logger.d(TAG, "result=$result")
}
}

62
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
View File

@@ -13,6 +13,7 @@ import mogo.telematics.pad.MessagePad.TrackedObject
import java.util.*
import java.util.concurrent.ConcurrentHashMap
import java.util.function.Consumer
import kotlin.collections.ArrayList
/**
* @author xiaoyuzhou
@@ -52,37 +53,36 @@ class IdentifyOriginDataDrawer : Identify {
//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)
// }
// todo test code 用于模拟感知物
// val resultList: ArrayList<TrackedObject> = ArrayList()
// val obj = TrackedObject.newBuilder().setUuid(67025).setLongitude(112.57413261072935).setLatitude(26.821571389153718).setHeading(329.9748205834151).setSpeed(0.0).setType(3).build()
// resultList.add(obj)
// renderAdasRecognizedResult(resultList)
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)
tempTrafficData.add(cacheData.toBuilder().setColor("#FFD53EFF").build())
}
MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
.updateBatchMarkerPosition(tempTrafficData)
}
}
/**

4
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
View File

@@ -1,7 +1,5 @@
package com.mogo.eagle.core.function.api.autopilot
import mogo.telematics.pad.MessagePad
import rule_segement.MogoPointCloudOuterClass
/**
* @author xiaoyuzhou
@@ -15,6 +13,6 @@ interface IMoGoAutopilotPointCloudListener {
*
* @param pointCloud 点云数据
*/
fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?)
fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?)
}

8
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
View File

@@ -1,12 +1,8 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
import com.mogo.eagle.core.function.call.base.CallerBase
import mogo.telematics.pad.MessagePad
import perception.TrafficLightOuterClass
import rule_segement.MogoPointCloudOuterClass
import java.util.concurrent.ConcurrentHashMap
/**
@@ -62,11 +58,11 @@ object CallerAutopilotPointCloudListenerManager : CallerBase() {
* 识别交通元素数据发生更新 回调
*/
@Synchronized
fun invokeAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
fun invokeAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) {
M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
val tag = it.key
val listener = it.value
listener.onAutopilotPointCloudDataUpdate(header,pointCloud)
listener.onAutopilotPointCloudDataUpdate(pointCloud)
}
}

2
gradle.properties
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@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.4.3.6
MOGO_TELEMATIC_VERSION=1.4.3.6
######## MogoAiCloudSDK Version ########
# 自研地图
MAP_SDK_VERSION=2.2.1.1
MAP_SDK_VERSION=2.3.0.2
MAP_SDK_OPERATION_VERSION=1.0.13
# websocket
WEBSOCKET_VERSION=1.1.7

4
libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto
View File

@@ -12,6 +12,6 @@ message MogoPointCloud
optional double self_roll = 5;
optional double self_pitch = 6;
optional double self_yaw = 7;
repeated float del_data = 8 [packed=true];
repeated float add_data = 9 [packed=true];
repeated uint32 del_data = 8 [packed=true];
repeated double add_data = 9 [packed=true];
}

3
libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
View File

@@ -130,6 +130,9 @@ public class ObjectUtils {
markerOptions.setRotateAngle((float) trafficData.getHeading());
markerOptions.setLat(trafficData.getLatitude());
markerOptions.setLon(trafficData.getLongitude());
if(trafficData.getColor()!=null && !trafficData.getColor().isEmpty()){
markerOptions.setColor(trafficData.getColor());
}
} catch (Exception e) {
e.printStackTrace();
}

10
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
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@@ -376,9 +376,9 @@ public class RouteOverlayDrawer {
isExcept = true;
}
long drawEnd = SystemClock.elapsedRealtime();
Log.d("Route", "draw cost:" + (drawEnd - drawStart) + "ms and isExcept:" + isExcept + "::removeCount:" + removeCount + "::total:" + total);
// Log.d("Route", "draw cost:" + (drawEnd - drawStart) + "ms and isExcept:" + isExcept + "::removeCount:" + removeCount + "::total:" + total);
} catch (Throwable t) {
Log.d("Route","error:" + Log.getStackTraceString(t));
// Log.d("Route","error:" + Log.getStackTraceString(t));
} finally {
try {
if (isExcept) {
@@ -394,7 +394,7 @@ public class RouteOverlayDrawer {
}
}
} catch (Throwable t) {
Log.d("Route", "error2:" + Log.getStackTraceString(t));
// Log.d("Route", "error2:" + Log.getStackTraceString(t));
}
}
}
@@ -431,10 +431,10 @@ public class RouteOverlayDrawer {
// 计算车辆与点之间的夹角
long diffAngle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
car_lon, car_lat, lon, lat, car_head);
Log.d("Route", "isPointOnCarFront: angle->" + diffAngle);
// Log.d("Route", "isPointOnCarFront: angle->" + diffAngle);
return diffAngle;
} finally {
Log.d("Route", "isPointOnCarFront cost:" + (SystemClock.elapsedRealtime() - start) + "ms");
// Log.d("Route", "isPointOnCarFront cost:" + (SystemClock.elapsedRealtime() - start) + "ms");
}
}
}