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wangcongtao
2021-02-20 15:00:16 +08:00
parent efeabce420 093ebb3471
commit 376e6c6826
20 changed files with 196 additions and 238 deletions
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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 ) {
}