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wangcongtao
2021-01-19 20:26:53 +08:00
parent 1b2f72092a
commit 386e882133
98 changed files with 9925 additions and 69 deletions
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25
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -51,6 +51,7 @@ import org.json.JSONException;
import org.json.JSONObject;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
@@ -112,7 +113,7 @@ public class MogoADASController implements IMogoADASController {
@Override
public void onRectData( RectInfo rectInfo ) {
// 物体识别返回
// Logger.d( TAG, "onRectData = %s", rectInfo.toString() );
Logger.d( TAG, "onRectData = %s", rectInfo.toString() );
mLastFrameData = rectInfo;
// 仅在 vr 模式下显示 adas 识别车辆
if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
@@ -150,14 +151,6 @@ public class MogoADASController implements IMogoADASController {
}
};
private long mLastRecordSeconds = 0L;
/**
* 缓存容器
*/
List< RectInfo > mCacheRecognizedDataSet = new ArrayList<>();
/**
* 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
@@ -168,25 +161,15 @@ public class MogoADASController implements IMogoADASController {
if ( rectInfo == null
|| rectInfo.getModels() == null
|| rectInfo.getModels().isEmpty() ) {
invokeCallbackPerSecond( null );
return;
}
long curTime = System.currentTimeMillis() / 1000;
if ( mLastRecordSeconds == 0L ) {
mLastRecordSeconds = curTime;
}
if ( mLastRecordSeconds != curTime ) {
invokeCallbackPerSecond( mCacheRecognizedDataSet );
mCacheRecognizedDataSet = new ArrayList<>();
}
mCacheRecognizedDataSet.add( rectInfo );
invokeCallbackPerSecond( Arrays.asList( rectInfo ) );
}
private void invokeCallbackPerSecond( List< RectInfo > data ) {
List< RectInfo > newRef = data;
List< ADASRecognizedListResult > recognizedListResults = AdasObjectUtils.regroupData( newRef );
if ( recognizedListResults == null || recognizedListResults.isEmpty() ) {
return;
}
if ( !mMogoAdasRecognizedDataCallbacks.isEmpty() ) {
for ( IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks ) {
if ( callback == null ) {

6
services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
View File

@@ -2,6 +2,7 @@ package com.mogo.service.impl.adas;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
import com.zhidao.support.adas.high.bean.CarLaneInfo;
import com.zhidao.support.adas.high.bean.CarStateInfo;
import com.zhidao.support.adas.high.bean.LightStatueInfo;
@@ -57,4 +58,9 @@ abstract class OnAdasListenerAdapter implements OnAdasListener {
public void autopilotStatus( AutopilotStatus autopilotStatus ) {
}
@Override
public void autopilotArrive( AutopilotWayArrive autopilotWayArrive ) {
}
}