yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

merge

Browse Source
This commit is contained in:
wangcongtao
2021-02-20 15:00:16 +08:00
parent efeabce420 093ebb3471
commit 376e6c6826
20 changed files with 196 additions and 238 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
.idea/gradle.xml generated
View File

@@ -89,7 +89,6 @@
</set>
</option>
<option name="resolveModulePerSourceSet" value="false" />
<option name="useQualifiedModuleNames" value="true" />
</GradleProjectSettings>
</option>
</component>

2
config.gradle
View File

@@ -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:1.0.6.9",
adasapi : "com.zhidao.autopilot.support:adas:1.0.6.12",
adasconfigapi : "com.zhidao.adasconfig:adasconfig:1.1.5.2",
// 个人中心的SDK

2
foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
View File

@@ -221,8 +221,6 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
Logger.d(TAG, "重置下次上报时机: " + nextDelay);
}
}
}
}

2
libraries/map-custom/build.gradle
View File

@@ -67,7 +67,7 @@ dependencies {
implementation project(':foudations:mogo-commons')
}
implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.0.9'
implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.1.1'
// implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
}

4
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
View File

@@ -985,12 +985,16 @@ public class AMapViewWrapper implements IMogoMapView,
double acceleration = data.optDouble( "acceleration", -1 );
double yawRate = data.optDouble( "yawRate", -1 );
double speed = data.optDouble( "speed", -1 );
long systemTime = data.optLong( "systemTime" );
long receiverDataTime = data.optLong( "receiverDataTime" );
if ( lon == -1 ) {
return;
}
RTKAutopilotLocationBean bean = new RTKAutopilotLocationBean();
bean.setYaw_rate( yawRate );
bean.setHeading( heading );
bean.setSystemTime( systemTime );
bean.setReceiverDataTime( receiverDataTime );
bean.setHeading( heading );
bean.setAcceleration( acceleration );
bean.setAlt( alt );

6
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java
View File

@@ -536,6 +536,10 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
@Override
public void addDynamicAnchorPosition( MogoLatLng latLng, long duration ) {
mMarker.addDynamicAnchorPostion( new LonLatPoint( latLng.lon, latLng.lat ), ( int ) duration );
try {
mMarker.addDynamicAnchorPostion( new LonLatPoint( latLng.lon, latLng.lat ), ( int ) duration );
} catch ( Exception e ) {
e.printStackTrace();
}
}
}

25
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -2,9 +2,6 @@ package com.mogo.module.common.drawer;
import android.content.Context;
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;
@@ -14,7 +11,7 @@ import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.service.adas.entity.ADASRecognizedListResult;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import java.util.ArrayList;
import java.util.HashMap;
@@ -39,7 +36,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
mContext = AbsMogoApplication.getApp();
}
private Map< String, ADASRecognizedListResult > mLastPositions = new ConcurrentHashMap<>();
private Map< String, ADASRecognizedResult > mLastPositions = new ConcurrentHashMap<>();
public static AdasRecognizedResultDrawer getInstance() {
if ( sInstance == null ) {
@@ -68,13 +65,13 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return mAdasRecognizedMarkersCaches.containsKey( uniqueKey );
}
public void renderAdasRecognizedResult( List< ADASRecognizedListResult > resultList, boolean machineVision, double curSpeed ) {
public void renderAdasRecognizedResult( List< ADASRecognizedResult > resultList, boolean machineVision, double curSpeed ) {
if ( resultList == null || resultList.isEmpty() ) {
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).removeMarkers( DataTypes.TYPE_MARKER_ADAS );
return;
}
purgeAdasRecognizedData( resultList );
for ( ADASRecognizedListResult recognizedListResult : resultList ) {
for ( ADASRecognizedResult recognizedListResult : resultList ) {
if ( recognizedListResult == null ) {
continue;
}
@@ -100,7 +97,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
mAdasRecognizedMarkersCaches.put( uniqueKey, marker );
mLastPositions.put( uniqueKey, recognizedListResult );
} else {
ADASRecognizedListResult lastPosition = mLastPositions.get( uniqueKey );
ADASRecognizedResult lastPosition = mLastPositions.get( uniqueKey );
mLastPositions.put( uniqueKey, recognizedListResult );
if ( lastPosition != null ) {
List< MogoLatLng > points = new ArrayList<>();
@@ -108,6 +105,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
points.add( new MogoLatLng( lastPosition.lat, lastPosition.lon ) );
points.add( endLatLon );
if ( DebugConfig.isNotSmooth() ) {
marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
} else {
long interval = recognizedListResult.systemTime - lastPosition.systemTime;
@@ -117,13 +115,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
interval -= 25;
marker.startSmoothInMs( points, interval );
}
} else {
marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
} else {
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
}
// marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
// marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
}
showSelfSpeed( mContext,
marker,
@@ -138,7 +133,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
*
* @param resultList
*/
private void purgeAdasRecognizedData( List< ADASRecognizedListResult > resultList ) {
private void purgeAdasRecognizedData( List< ADASRecognizedResult > resultList ) {
if ( resultList == null || resultList.isEmpty() ) {
return;
}
@@ -146,7 +141,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
Map< String, IMogoMarker > existMarker = new HashMap<>();
for ( ADASRecognizedListResult recognizedListResult : resultList ) {
for ( ADASRecognizedResult recognizedListResult : resultList ) {
if ( recognizedListResult == null ) {
continue;
}
@@ -170,7 +165,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
}
private IMogoMarker drawAdasRecognizedDataMarker( ADASRecognizedListResult recognizedListResult,
private IMogoMarker drawAdasRecognizedDataMarker( ADASRecognizedResult recognizedListResult,
boolean machineVision,
double curSpeed ) {
if ( recognizedListResult == null ) {

14
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -188,16 +188,9 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
CloudRoadData lastPosition = mLastPositions.get( uniqueKey );
if ( lastPosition != null ) {
if ( lastPosition.equals( cloudRoadData ) ) {
if ( ( ( int ) cloudRoadData.getSpeed() ) == 0 ) {
// MapCameraPosition position = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getMapCameraPosition();
// if ( position != null ) {
// marker.setRotateAngle( 360 - ( float ) cloudRoadData.getHeading() - position.getBearing() );
// } else {
// }
marker.setRotateAngle( ( ( float ) cloudRoadData.getHeading() ) );
}
Logger.d( TAG, "保持位置 - %s", uniqueKey );
// marker.setPosition( lastPosition.getLat(), lastPosition.getLon() );
marker.setRotateAngle( ( ( float ) cloudRoadData.getHeading() ) );
marker.setPosition( lastPosition.getLat(), lastPosition.getLon() );
} else {
List< MogoLatLng > points = new ArrayList<>();
points.add( new MogoLatLng( lastPosition.getLat(), lastPosition.getLon() ) );
@@ -341,7 +334,7 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
private int getVrModel( CloudRoadData data ) {
switch ( data.getFromType() ) {
case CloudRoadData.FROM_ADAS:
return R.raw.taxi;
return R.raw.cargrey;
case CloudRoadData.FROM_ROAD_UNIT:
return R.raw.cargreen;
case CloudRoadData.FROM_MY_LOCATION:
@@ -395,7 +388,6 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
driverInfo.setLat( data.getLat() );
driverInfo.setLon( data.getLon() );
driverInfo.setSn( data.getSn() );
ICarsChattingProvider carChatting = CallChatApi.getInstance().getApiProvider();
if ( carChatting != null ) {

11
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -67,6 +67,7 @@ import com.mogo.utils.NetworkUtils;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
import org.json.JSONException;
import org.json.JSONObject;
import java.util.List;
@@ -970,6 +971,16 @@ public class MogoServices implements IMogoMapListener,
data.putOpt( "heading", stateInfo.getValues().getHeading() );
data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() );
data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() );
try {
data.putOpt( "systemTime", Long.valueOf( stateInfo.getValues().getSystemTime() ) );
} catch ( Exception e ) {
e.printStackTrace();
}
try {
data.putOpt( "receiverDataTime", Long.valueOf( stateInfo.getValues().getReceiverDataTime() ) );
} catch ( Exception e ) {
e.printStackTrace();
}
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
SnapshotUploadInTime.getInstance().syncAdasLocationInfo( data );
} catch ( Exception e ) {

7
modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
View File

@@ -60,23 +60,26 @@ public class MogoRTKLocation {
}
public interface RTKLocationListener {
void onLocationChanged(List<CloudLocationInfo> cloudLocationInfos);
void onLocationChanged(int dataAccuracy, List<CloudLocationInfo> cloudLocationInfos);
}
private void sendLocationData() {
List<CloudLocationInfo> list = null;
int dataAccuracy = 0;
if ( DebugConfig.isUseAdasRtkLocationInfo() ) {
dataAccuracy = 1;
list = new ArrayList<>(SnapshotUploadInTime.getInstance().getSendLocationData());
}
if ( list == null || list.isEmpty() ) {
dataAccuracy = 0;
list = new ArrayList<>(cacheList);
}
if (cacheList != null && cacheList.size() > 0) {
cacheList.clear();
}
if (rtkLocationListener != null) {
rtkLocationListener.onLocationChanged(list);
rtkLocationListener.onLocationChanged(dataAccuracy, list);
}
}

7
modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java
View File

@@ -67,13 +67,13 @@ class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener {
}
@Override
public void onLocationChanged( List< CloudLocationInfo > cloudLocationInfos ) {
startSendCarLocationAndAdasRecognizedResult2Server( cloudLocationInfos );
public void onLocationChanged( int dataAccuracy, List< CloudLocationInfo > cloudLocationInfos ) {
startSendCarLocationAndAdasRecognizedResult2Server( dataAccuracy, cloudLocationInfos );
}
private CloudLocationInfo mLastInfo;
private void startSendCarLocationAndAdasRecognizedResult2Server( List< CloudLocationInfo > cloudLocationInfo ) {
private void startSendCarLocationAndAdasRecognizedResult2Server( int dataAccuracy, List< CloudLocationInfo > cloudLocationInfo ) {
CloudLocationInfo lastInfo = null;
// 如果数组内容不为空，就用数组最后一个值
if ( cloudLocationInfo != null && !cloudLocationInfo.isEmpty() ) {
@@ -88,6 +88,7 @@ class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener {
// 定位点预测纠偏
lastInfo = SimpleLocationCorrectStrategy.getInstance().correct( lastInfo );
locationResult = new LocationResult();
locationResult.dataAccuracy = dataAccuracy;
if ( lastInfo != null ) {
locationResult.lastCoordinate = lastInfo;
locationResult.mortonCode = MortonCode.wrapEncodeMorton( lastInfo.getLon(), lastInfo.getLat() );

7
modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/LocationResult.java
View File

@@ -29,7 +29,12 @@ class LocationResult {
public CloudLocationInfo lastCoordinate;
/**
* 内的连续定位点
* 连续定位点
*/
public List< CloudLocationInfo > coordinates;
/**
* 数据来源精度 0 - 普通定位、1 - 高精定位
*/
public int dataAccuracy = 0;
}

3
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
View File

@@ -1,6 +1,5 @@
package com.mogo.service.adas;
import com.mogo.service.adas.entity.ADASRecognizedListResult;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import java.util.List;
@@ -16,5 +15,5 @@ public interface IMogoAdasRecognizedDataCallback {
*
* @param resultList 具体识别的物体数据
*/
void onAdasDataCallback( List< ADASRecognizedListResult > resultList );
void onAdasDataCallback( List< ADASRecognizedResult > resultList );
}

20
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java
View File

@@ -55,6 +55,10 @@ public class ADASCarStateInfo implements Serializable {
//gps 时间
private String satelliteTime;
private String systemTime;
//接收到数据的时间
private String receiverDataTime;
public float getGnss_speed() {
return gnss_speed;
}
@@ -119,6 +123,22 @@ public class ADASCarStateInfo implements Serializable {
this.yaw_rate = yaw_rate;
}
public String getSystemTime() {
return systemTime;
}
public void setSystemTime( String systemTime ) {
this.systemTime = systemTime;
}
public String getReceiverDataTime() {
return receiverDataTime;
}
public void setReceiverDataTime( String receiverDataTime ) {
this.receiverDataTime = receiverDataTime;
}
@Override
public String toString() {
return "ValuesBean{" +

48
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java
View File

@@ -1,48 +0,0 @@
package com.mogo.service.adas.entity;
import java.util.List;
public
/**
* @author congtaowang
* @since 2020/10/25
*
* adas 识别物体参数
*/
class ADASRecognizedListResult {
/**
* 识别物体类型
*/
public int type;
/**
* 识别物体唯一标识
*/
public String uuid;
/**
* 方向
*/
public double heading;
/**
* 速度
*/
public double speed;
/**
* x 轴距离
*/
public double distanceX;
/**
* y 轴距离
*/
public double distanceY;
/**
* 同一个uuid 1帧内所对应的坐标
*/
public double lon;
public double lat;
public long systemTime;
}

19
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java
View File

@@ -69,4 +69,23 @@ class ADASRecognizedResult {
*/
public long mortonCode;
/**
* x 轴距离
*/
public double distanceX;
/**
* y 轴距离
*/
public double distanceY;
/**
* 实际直线距离
*/
public double distance;
/**
* 数据来源精度 0 - 普通定位、1 - 高精定位
*/
public int dataAccuracy;
}

2
services/mogo-service/build.gradle
View File

@@ -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:1.1.5.2"
implementation "com.zhidao.support.adas:high:1.1.5.9"
if (Boolean.valueOf(RELEASE)) {
api rootProject.ext.dependencies.mogomap
implementation rootProject.ext.dependencies.mogomapapi

117
services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
View File

@@ -1,19 +1,14 @@
package com.mogo.service.impl.adas;
import android.text.TextUtils;
import com.mogo.commons.utils.MortonCode;
import com.mogo.service.adas.entity.ADASRecognizedListResult;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASWarnMessage;
import com.mogo.utils.CoordinateUtils;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
public
/**
@@ -40,89 +35,49 @@ class AdasObjectUtils {
return warnMessage;
}
public static List< ADASRecognizedResult > fromAdasObject( RectInfo rectInfo ) {
if ( rectInfo == null
|| rectInfo.getModels() == null
|| rectInfo.getModels().isEmpty() ) {
return null;
}
List< ADASRecognizedResult > recognizedResults = new ArrayList<>();
for ( RectInfo.RectBean model : rectInfo.getModels() ) {
try {
ADASRecognizedResult result = fromAdasObject( model );
if ( result != null ) {
recognizedResults.add( result );
}
} catch ( Exception e ) {
}
}
return recognizedResults;
}
public static ADASRecognizedResult fromAdasObject( RectInfo.RectBean rectBean ) {
if ( rectBean == null ) {
return null;
}
if ( rectBean.getLat() < 1 ) {
return null;
}
ADASRecognizedResult result = new ADASRecognizedResult();
result.uuid = rectBean.getUuid();
double amapCoord[] = CoordinateUtils.transformWgsToGcj( rectBean.getLat(), rectBean.getLon() );
if ( amapCoord != null ) {
result.lat = amapCoord[1];
result.lon = amapCoord[0];
} else {
result.lat = rectBean.getLat();
result.lon = rectBean.getLon();
}
result.type = Integer.valueOf( rectBean.getType() );
result.heading = rectBean.getHeading();
result.systemTime = Long.valueOf( rectBean.getSystemTime() );
result.satelliteTime = Long.valueOf( rectBean.getSatelliteTime() );
result.alt = rectBean.getAlt();
result.color = rectBean.getColor();
result.speed = rectBean.getSpeed();
result.carId = rectBean.getCarId();
result.mortonCode = MortonCode.wrapEncodeMorton( result.lon, result.lat );
return result;
}
public static List< ADASRecognizedListResult > regroupData( List< RectInfo > datums ) {
public static List< ADASRecognizedResult > regroupData( List< AdasAIDLOwnerCarRectModel > datums ) {
if ( datums == null || datums.isEmpty() ) {
return null;
}
List< ADASRecognizedListResult > recognizedListResults = new ArrayList<>();
for ( RectInfo rectInfo : datums ) {
if ( rectInfo == null || rectInfo.getModels() == null || rectInfo.getModels().isEmpty() ) {
List< ADASRecognizedResult > recognizedListResults = new ArrayList<>();
for ( AdasAIDLOwnerCarRectModel model : datums ) {
if ( model == null ) {
continue;
}
for ( RectInfo.RectBean model : rectInfo.getModels() ) {
if ( model == null || TextUtils.isEmpty( model.getUuid() ) ) {
continue;
}
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();
}
ADASRecognizedResult recognizedListResult = fromAdasObject( model );
if ( recognizedListResult != null ) {
recognizedListResults.add( recognizedListResult );
}
}
return recognizedListResults;
}
public static ADASRecognizedResult fromAdasObject( AdasAIDLOwnerCarRectModel model ) {
if ( model == null ) {
return null;
}
ADASRecognizedResult result = new ADASRecognizedResult();
result.uuid = model.getUuid();
double amapCoord[] = CoordinateUtils.transformWgsToGcj( model.getLat(), model.getLon() );
if ( amapCoord != null ) {
result.lat = amapCoord[1];
result.lon = amapCoord[0];
} else {
result.lat = model.getLat();
result.lon = model.getLon();
}
result.type = Integer.valueOf( model.getType() );
result.heading = model.getHeading();
result.systemTime = Long.valueOf( model.getSystemTime() );
result.satelliteTime = Long.valueOf( model.getSatelliteTime() );
result.alt = model.getAlt();
result.color = model.getColor();
result.speed = model.getSpeed();
result.carId = model.getCarId();
result.dataAccuracy = model.dataAccuracy;
result.distance = model.distance;
result.mortonCode = MortonCode.wrapEncodeMorton( result.lon, result.lat );
return result;
}
}

136
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -25,7 +25,6 @@ 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;
import com.mogo.service.adas.entity.AdasOCHData;
@@ -46,6 +45,8 @@ 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;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
@@ -54,10 +55,7 @@ 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;
@@ -112,33 +110,12 @@ public class MogoADASController implements IMogoADASController {
private IMogoAdasCarDataCallback mMogoAdasCarDataCallback;
private RectInfo mLastFrameData;
private List< AdasAIDLOwnerCarRectModel > 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;
}
if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched() ) {
return;
}
handleAdasRecognizedData( rectInfo );
}
@Override
@@ -167,34 +144,26 @@ public class MogoADASController implements IMogoADASController {
}
};
private long mLastRecordSeconds = 0L;
/**
* 缓存容器
*/
List< RectInfo > mCacheRecognizedDataSet = new ArrayList<>();
private IMogoAdasOCHCallback mAdasOCHCallback;
/**
* 处理数据，将识别到的物体分组，然后每1s进行一次回调
* 时间:系统时间
*
* @param rectInfo
* @param models
*/
private void handleAdasRecognizedData( RectInfo rectInfo ) {
if ( rectInfo == null
|| rectInfo.getModels() == null
|| rectInfo.getModels().isEmpty() ) {
private void handleAdasRecognizedData( List< AdasAIDLOwnerCarRectModel > models ) {
if ( models == null
|| models.isEmpty() ) {
invokeCallbackPerSecond( null );
return;
}
invokeCallbackPerSecond( Arrays.asList( rectInfo ) );
invokeCallbackPerSecond( models );
}
private void invokeCallbackPerSecond( List< RectInfo > data ) {
List< RectInfo > newRef = data;
List< ADASRecognizedListResult > recognizedListResults = AdasObjectUtils.regroupData( newRef );
private void invokeCallbackPerSecond( List< AdasAIDLOwnerCarRectModel > models ) {
List< AdasAIDLOwnerCarRectModel > newRef = models;
List< ADASRecognizedResult > recognizedListResults = AdasObjectUtils.regroupData( newRef );
if ( !mMogoAdasRecognizedDataCallbacks.isEmpty() ) {
for ( IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks ) {
if ( callback == null ) {
@@ -330,27 +299,31 @@ public class MogoADASController implements IMogoADASController {
}
}
LogWriter logWriter;
@Override
@Deprecated
public void ownerCarStateInfo( String ownerCarStateInfo ) {
}
@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 );
try {
mLastLon = stateInfo.getValues().getLon();
mLastLat = stateInfo.getValues().getLat();
} catch ( Exception e ) {
e.printStackTrace();
}
public void notifyOwnerCarState( AdasAIDLOwnerCarStateModel ownerCarStateModel ) {
ADASCarStateInfo stateInf = new ADASCarStateInfo();
stateInf.setAction( "state" );
ADASCarStateInfo.ValuesBean bean = new ADASCarStateInfo.ValuesBean();
bean.setSatelliteTime( ownerCarStateModel.getSatelliteTime() );
bean.setAcceleration( ownerCarStateModel.getAcceleration() );
bean.setAlt( ownerCarStateModel.getAlt() );
bean.setGnss_speed( ownerCarStateModel.getGnss_speed() );
bean.setHeading( ownerCarStateModel.getHeading() );
bean.setLat( ownerCarStateModel.getLat() );
bean.setLon( ownerCarStateModel.getLon() );
bean.setReceiverDataTime( ownerCarStateModel.getReceiverDataTime() );
bean.setSystemTime( ownerCarStateModel.getSystemTime() );
bean.setYaw_rate( ownerCarStateModel.getYaw_rate() );
stateInf.setValues( bean );
mLastLon = ownerCarStateModel.getLon();
mLastLat = ownerCarStateModel.getLat();
if ( mMogoAdasCarDataCallback != null ) {
mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInfo );
mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInf );
}
}
@@ -361,6 +334,28 @@ public class MogoADASController implements IMogoADASController {
mAdasOCHCallback.onStateChanged( autopilotStateModel.getState(), autopilotStateModel.getReason() );
}
}
@Override
public void notifyOwnerCarRect( List< AdasAIDLOwnerCarRectModel > ownerCarStateRectList ) {
// 物体识别返回
Logger.d( TAG, "onRectData = %s", ownerCarStateRectList.toString() );
if ( mLastFrameData == null ) {
mLastFrameData = new ArrayList<>();
}
try {
mLastFrameData.addAll( ownerCarStateRectList );
} catch ( Exception e ) {
}
// 仅在 vr 模式下显示 adas 识别车辆
if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
return;
}
if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched() ) {
return;
}
handleAdasRecognizedData( ownerCarStateRectList );
}
};
AutopilotServiceManage.getInstance().registerAutopilotDataListener( mAutopolitDataCallBack );
}
@@ -624,10 +619,14 @@ public class MogoADASController implements IMogoADASController {
@Override
public List< ADASRecognizedResult > getLastADASRecognizedResult() {
RectInfo rectInfo = mLastFrameData;
List< ADASRecognizedResult > recognizedResultList = null;
if ( mLastFrameData == null ) {
return null;
}
try {
recognizedResultList = AdasObjectUtils.fromAdasObject( rectInfo );
List< AdasAIDLOwnerCarRectModel > data = new ArrayList<>( mLastFrameData );
mLastFrameData = null;
List< ADASRecognizedResult > recognizedResultList = null;
recognizedResultList = AdasObjectUtils.regroupData( data );
return recognizedResultList;
} catch ( Exception e ) {
return null;
@@ -681,7 +680,7 @@ public class MogoADASController implements IMogoADASController {
@Override
public int getAutopilotStatus() {
if (mockState != -2) {
if ( mockState != -2 ) {
return mockState;
}
int status = IMogoAdasOCHCallback.STATUS_AUTOPILOT_DISABLE;
@@ -694,16 +693,17 @@ public class MogoADASController implements IMogoADASController {
}
private int mockState = -2;
@Override
public void mockOchStatus( int state, String reason ) {
if ( state == -1 ) {
if ( mAdasOCHCallback != null ) {
mAdasOCHCallback.onArriveAt( new AdasOCHData( 1, 1d, 1d ) );
}
}else {
} else {
mockState = state;
if (mAdasOCHCallback != null) {
mAdasOCHCallback.onStateChanged(state, reason);
if ( mAdasOCHCallback != null ) {
mAdasOCHCallback.onStateChanged( state, reason );
}
}
}
@@ -712,7 +712,7 @@ public class MogoADASController implements IMogoADASController {
public void cancelAutopilot() {
try {
AutopilotServiceManage.getInstance().cancelAutopilot();
} catch (RemoteException e) {
} catch ( RemoteException e ) {
e.printStackTrace();
}
}

1
services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
View File

@@ -30,6 +30,7 @@ abstract class OnAdasListenerAdapter implements OnAdasListener {
}
@Override
@Deprecated
public void onRectData( RectInfo rectInfo ) {
}