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merge dev2_adas

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This commit is contained in:
zhongchao
2021-05-25 17:31:31 +08:00
parent eb3364406b d3cdcb14f8
commit 2eb75905b7
53 changed files with 589 additions and 3431 deletions
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5
services/mogo-service-api/src/main/java/com/mogo/service/MogoServicePaths.java
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@@ -311,6 +311,11 @@ public class MogoServicePaths {
*/
public static final String PATH_SMALL_MAP = "/small_map/api";
/**
* ADAS 模块
*/
public static final String PATH_ADAS = "/adas/api";
/*
*前方碰撞预警 未碰撞
* */

2
services/mogo-service/build.gradle
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@@ -42,7 +42,7 @@ dependencies {
annotationProcessor rootProject.ext.dependencies.aroutercompiler
implementation rootProject.ext.dependencies.adasapi
implementation rootProject.ext.dependencies.adasconfigapi
implementation "com.zhidao.support.adas:high:1.1.7.4"
implementation project(':modules:mogo-module-adas')
if (Boolean.valueOf(RELEASE)) {
api rootProject.ext.dependencies.mogomap
implementation rootProject.ext.dependencies.mogomapapi

73
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -10,11 +10,15 @@ import android.text.TextUtils;
import android.util.Log;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.alibaba.android.arouter.launcher.ARouter;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.commons.network.Utils;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.module.adas.AdasDataListener;
import com.mogo.module.adas.AdasProvider;
import com.mogo.module.adas.AdasStatusListener;
import com.mogo.service.MogoServicePaths;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
@@ -44,7 +48,6 @@ import com.zhidao.adasconfig.common.config.EnumCarChatIncognitoMode;
import com.zhidao.adasconfig.common.config.EnumCarHeading;
import com.zhidao.adasconfig.common.config.EnumSkinStyle;
import com.zhidao.autopilot.support.api.AutopilotServiceManage;
import com.zhidao.autopilot.support.api.IAutopilotServiceStatusListener;
import com.zhidao.autopilot.support.api.IAutopolitDataCallBack;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
@@ -91,7 +94,10 @@ public class MogoADASController implements IMogoADASController {
private boolean mIsReleased = true;
private IAutopolitDataCallBack mAutopolitDataCallBack;
//private IAutopolitDataCallBack mAutopolitDataCallBack;
private AdasDataListener mAdasDataListener;
private AdasProvider adasProvider;
/**
* 获取adas前车距离
@@ -117,12 +123,12 @@ public class MogoADASController implements IMogoADASController {
*/
private final Handler mAdasRecognizedRecHandler = new Handler(WorkThreadHandler.newInstance("AdasRecognizedRecThread").getLooper()) {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.obj instanceof List) {
mAutopolitDataCallBack.notifyOwnerCarRect((List<AdasAIDLOwnerCarRectModel>) msg.obj);
} else if (msg.obj == null) {
mAutopolitDataCallBack.notifyOwnerCarRect(null);
public void handleMessage( Message msg ) {
super.handleMessage( msg );
if ( msg.obj instanceof List ) {
mAdasDataListener.notifyOwnerCarRect( ( List< AdasAIDLOwnerCarRectModel > ) msg.obj );
} else if(msg.obj == null ){
mAdasDataListener.notifyOwnerCarRect( null );
}
}
};
@@ -298,26 +304,31 @@ public class MogoADASController implements IMogoADASController {
if (SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
return;
}
Logger.d(TAG, Log.getStackTraceString(new Throwable()));
init(AbsMogoApplication.getApp());
AutopilotServiceManage.getInstance().registerAutopilotServiceStatusListener(new IAutopilotServiceStatusListener() {
Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
init( AbsMogoApplication.getApp() );
adasProvider.addAdaStatusListener(new AdasStatusListener() {
@Override
public void onServiceConnected() {
super.onServiceConnected();
Logger.d( TAG, "adas statuslistener connected & send sn");
AutopilotServiceManage.getInstance().aiCloudToAdasData(Utils.getSn()+"xavier");
invokeShowADASOperation();
}
@Override
public void onServiceDisconnected() {
Logger.d( TAG, "adas statuslistener disconnected");
super.onServiceDisconnected();
}
});
invokeShowADASOperation();
if (mAutopolitDataCallBack == null) {
mAutopolitDataCallBack = new IAutopolitDataCallBack() {
if ( mAdasDataListener == null ) {
mAdasDataListener = new AdasDataListener() {
@Override
public void sendMsg(String msg) {
for (IMogoAdasDataCallback callback : mAdasDataCallbackList) {
public void sendMsg( String msg ) {
Logger.d( TAG, "adas AdasDataListener sendmsg " + msg);
for ( IMogoAdasDataCallback callback : mAdasDataCallbackList ) {
try {
callback.onAdasDataCallback(msg);
} catch (Exception e) {
@@ -327,8 +338,8 @@ public class MogoADASController implements IMogoADASController {
}
@Override
public void cameraEyeDetectResult(String detectResult) {
public void cameraEyeDetectResult( String detectResult ) {
Logger.d( TAG, "detectResult " + detectResult);
try {
JSONObject jsonObjectWs = new JSONObject(detectResult);
String action = jsonObjectWs.optString("action");
@@ -354,8 +365,9 @@ public class MogoADASController implements IMogoADASController {
@Override
public void requestGetCarModelListInfo() {
if (DebugConfig.isMapBased()) {
Logger.d(TAG, "requestGetCarModelListInfo");
Logger.d( TAG, "requestGetCarModelListInfo ");
if ( DebugConfig.isMapBased() ) {
Logger.d( TAG, "requestGetCarModelListInfo" );
// 向adas发送车模list
String carModelList = SharedPrefsMgr.getInstance(context).getString("CAR_MODEL_LIST", "");
if (carModelList != null && !carModelList.isEmpty()) {
@@ -382,8 +394,9 @@ public class MogoADASController implements IMogoADASController {
}
@Override
public void autopilotArrive(AdasAIDLAutopilotArriveModel autopilotArriveModel) {
if (autopilotArriveModel == null) {
public void autopilotArrive( AdasAIDLAutopilotArriveModel autopilotArriveModel ) {
Logger.d( TAG, "autopilotArriveModel " + autopilotArriveModel);
if ( autopilotArriveModel == null ) {
return;
}
if (mAdasOCHCallback != null) {
@@ -396,14 +409,16 @@ public class MogoADASController implements IMogoADASController {
}
@Override
public void ownerCarStateInfo(String ownerCarStateInfo) {
public void ownerCarStateInfo( String ownerCarStateInfo ) {
Logger.d( TAG, "ownerCarStateInfo " + ownerCarStateInfo);
Message message = mAdasLocationRecHandler.obtainMessage();
message.obj = ownerCarStateInfo;
message.sendToTarget();
}
@Override
public void notifyOwnerCarState(AdasAIDLOwnerCarStateModel ownerCarStateModel) {
public void notifyOwnerCarState( AdasAIDLOwnerCarStateModel ownerCarStateModel ) {
Logger.d( TAG, "AdasAIDLOwnerCarStateModel " + ownerCarStateModel);
ADASCarStateInfo stateInf = new ADASCarStateInfo();
stateInf.setAction("state");
ADASCarStateInfo.ValuesBean bean = new ADASCarStateInfo.ValuesBean();
@@ -455,7 +470,7 @@ public class MogoADASController implements IMogoADASController {
Logger.i("ADAS-REC-timer", "cost " + (System.currentTimeMillis() - start) + "ms");
}
};
AutopilotServiceManage.getInstance().registerAutopilotDataListener(mAutopolitDataCallBack);
adasProvider.addAdasEventListener(mAdasDataListener);
}
}
@@ -555,6 +570,7 @@ public class MogoADASController implements IMogoADASController {
AutopilotServiceManage.getInstance().init(context);
mIsReleased = false;
mAdasMessageFactory = new MyMessageFactory();
adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
this.context = context;
}
@@ -686,7 +702,8 @@ public class MogoADASController implements IMogoADASController {
@Override
public void release() {
mIsReleased = true;
AutopilotServiceManage.getInstance().unRegisterAutopilotDataListener(mAutopolitDataCallBack);
//AutopilotServiceManage.getInstance().unRegisterAutopilotDataListener( mAutopolitDataCallBack );
adasProvider.removeAdasEventListener(mAdasDataListener);
AutopilotServiceManage.getInstance().release();
}
@@ -853,7 +870,7 @@ public class MogoADASController implements IMogoADASController {
}
@Override
public void mockAdasRecognized(String json) {
mAutopolitDataCallBack.cameraEyeDetectResult(json);
public void mockAdasRecognized( String json ) {
mAdasDataListener.cameraEyeDetectResult( json );
}
}