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Merge remote-tracking branch 'origin/demo/shunyi_vr_map' into demo/shunyi_vr_map

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This commit is contained in:
tongchenfei
2020-10-25 16:45:39 +08:00
parent d83fb24b4e e1756c5f34
commit 397c7f89b2
57 changed files with 1426 additions and 243 deletions
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6
modules/mogo-module-main/src/main/java/com/mogo/module/main/EventDispatchCenter.java
View File

@@ -157,8 +157,14 @@ public class EventDispatchCenter implements
this.mMapLoadedCallback = callback;
}
private boolean mIsMapLoaded = false;
@Override
public void onMapLoaded() {
if ( mIsMapLoaded ) {
return;
}
mIsMapLoaded = true;
if ( mMapLoadedCallback != null ) {
mMapLoadedCallback.run();
mMapLoadedCallback = null;

47
modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFragment.java
View File

@@ -1,5 +1,6 @@
package com.mogo.module.map;
import android.content.Context;
import android.os.Bundle;
import androidx.annotation.NonNull;
@@ -12,7 +13,9 @@ import com.mogo.map.IMogoUiSettings;
import com.mogo.map.MogoMapView;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.MogoServicePaths;
import com.mogo.service.map.IMogoMapFrameController;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.IMogoStatusManager;
import com.mogo.service.statusmanager.StatusDescriptor;
@@ -24,7 +27,7 @@ import com.mogo.utils.logger.Logger;
* <p>
* 地图图层，地图操作都在这个图层完成
*/
public class MapFragment extends MvpFragment< MapView, MapPresenter > implements MapView {
public class MapFragment extends MvpFragment< MapView, MapPresenter > implements MapView, IMogoMapFrameController {
private static final String TAG = "MapFragment";
@@ -33,6 +36,8 @@ public class MapFragment extends MvpFragment< MapView, MapPresenter > implements
private boolean mIsControllerByOthersStatus = false;
private boolean mIsFirstLoadCustomMap = true;
@Override
protected int getLayoutId() {
return R.layout.module_map_fragment_map;
@@ -40,6 +45,30 @@ public class MapFragment extends MvpFragment< MapView, MapPresenter > implements
@Override
protected void initViews() {
MogoApisHandler.getInstance().getApis().getMapFrameControllerApi().initDelegate( this );
}
@Override
public void initDelegate( IMogoMapFrameController controller ) {
// do not implement
}
@Override
public void changeTo2dMode() {
mMogoMapView.display2DMap( false, true );
}
@Override
public void changeToVRMode() {
mMogoMapView.displayVRMap( mIsFirstLoadCustomMap, true );
if ( mIsFirstLoadCustomMap ) {
mIsFirstLoadCustomMap = false;
}
}
@Override
public void init( Context context ) {
// do not implement
}
@Override
@@ -48,8 +77,10 @@ public class MapFragment extends MvpFragment< MapView, MapPresenter > implements
mMogoMapView = findViewById( R.id.module_map_id_map );
mMogoMapView.onCreate( savedInstanceState );
mMogoMap = mMogoMapView.getMap();
mMogoMap.getUIController().showMyLocation( true );
mMogoMap.getUIController().recoverLockMode();// 启动锁车
if ( mMogoMap.getUIController() != null ) {
mMogoMap.getUIController().showMyLocation( true );
mMogoMap.getUIController().recoverLockMode();// 启动锁车
}
}
@NonNull
@@ -129,11 +160,18 @@ public class MapFragment extends MvpFragment< MapView, MapPresenter > implements
uiSettings.setZoomControlsEnabled( false );
//设置双指缩放手势是否可用。
uiSettings.setZoomGesturesEnabled( true );
mMogoMap.getUIController().changeMapMode( EnumMapUI.NorthUP_2D );
if ( mMogoMap.getUIController() != null ) {
mMogoMap.getUIController().changeMapMode( EnumMapUI.NorthUP_2D );
}
}
}
}
@Override
public void destroy() {
MogoApisHandler.getInstance().getApis().getMapFrameControllerApi().destroy();
}
@Override
public IMogoMapUIController getUIController() {
return mMogoMap.getUIController();
@@ -146,5 +184,6 @@ public class MapFragment extends MvpFragment< MapView, MapPresenter > implements
mMogoMapView.onDestroy();
}
MapBroadCastHelper.getInstance( getContext() ).release();
destroy();
}
}

51
modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFrameController.java Normal file
View File

@@ -0,0 +1,51 @@
package com.mogo.module.map;
import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.google.gson.internal.$Gson$Preconditions;
import com.mogo.service.MogoServicePaths;
import com.mogo.service.map.IMogoMapFrameController;
public
/**
* @author congtaowang
* @since 2020/10/23
*
* 描述
*/
@Route( path = MogoServicePaths.PATH_MAP_FRAME_CONTROLLER )
class MapFrameController implements IMogoMapFrameController {
private IMogoMapFrameController mController;
@Override
public void initDelegate( IMogoMapFrameController controller ) {
mController = controller;
}
@Override
public void changeTo2dMode() {
if ( mController != null ) {
mController.changeTo2dMode();
}
}
@Override
public void changeToVRMode() {
if ( mController != null ) {
mController.changeToVRMode();
}
}
@Override
public void init( Context context ) {
}
@Override
public void destroy() {
mController = null;
}
}

7
modules/mogo-module-search/src/main/java/com/mogo/module/navi/ui/setting/NaviSettingFragment.kt
View File

@@ -9,6 +9,7 @@ import android.widget.SeekBar.OnSeekBarChangeListener
import com.mogo.commons.debug.DebugConfig
import com.mogo.commons.voice.AIAssist
import com.mogo.map.uicontroller.EnumMapUI
import com.mogo.module.common.MogoApisHandler
import com.mogo.module.navi.R
import com.mogo.module.navi.bean.SearchPoi
import com.mogo.module.navi.constants.DataConstants
@@ -232,7 +233,11 @@ class NaviSettingFragment : BaseFragment(), OnCheckedChangeListener {
tb_custom_map.isChecked = DebugConfig.isUseCustomMap()
tb_custom_map.setOnCheckedChangeListener{ _, isChecked ->
TipToast.shortTip("设置完成，下次启动生效")
SharedPrefsMgr.getInstance(context!!).putBoolean("useCustomMap", isChecked)
if (isChecked) {
MogoApisHandler.getInstance().apis.mapFrameControllerApi.changeToVRMode()
} else {
MogoApisHandler.getInstance().apis.mapFrameControllerApi.changeTo2dMode()
}
}
tb_navi.isChecked = SettingManager.isMonitor()
tb_gps.isChecked = SettingManager.isGpsSimulator()

30
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -6,7 +6,6 @@ import android.content.Intent;
import android.content.IntentFilter;
import android.location.Location;
import android.net.ConnectivityManager;
import android.net.wifi.WifiManager;
import android.os.Handler;
import android.os.Looper;
import android.os.Message;
@@ -20,6 +19,7 @@ import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.network.ParamsProvider;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.commons.storage.SpStorage;
import com.mogo.commons.utils.MortonCode;
import com.mogo.commons.voice.AIAssist;
import com.mogo.commons.voice.IMogoVoiceCmdCallBack;
import com.mogo.map.IDestroyable;
@@ -53,9 +53,9 @@ import com.mogo.module.service.refresh.AutoRefreshStrategy;
import com.mogo.module.service.refresh.CustomRefreshStrategy;
import com.mogo.module.service.refresh.RefreshObject;
import com.mogo.module.service.strategy.CarIconDisplayStrategy;
import com.mogo.module.service.websocket.LocationResult;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.cardmanager.IMogoCardManager;
import com.mogo.service.connection.IMogoOnMessageListener;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.fragmentmanager.FragmentStackTransactionListener;
import com.mogo.service.fragmentmanager.IMogoFragmentManager;
import com.mogo.service.intent.IMogoIntentListener;
@@ -105,6 +105,7 @@ public class MogoServices implements IMogoMapListener,
IDestroyable {
private boolean mInternalUnWakeupRegisterStatus = false;
private Location mLastCarLocation;
private MogoServices() {
// private constructor
@@ -426,6 +427,8 @@ public class MogoServices implements IMogoMapListener,
}
AutoPilotRemoteController.getInstance().start();
mThreadHandler.sendEmptyMessageDelayed( ServiceConst.MSG_SEND_CAR_LOCATION_AND_ADAS_RECOGNIZED_RESULT_2_SERVER, 0 );
}
private void initLocationServiceProcess( Context context ) {
@@ -440,6 +443,23 @@ public class MogoServices implements IMogoMapListener,
}
}
private void startSendCarLocationAndAdasRecognizedResult2Server() {
Location lastCarLocation = mLastCarLocation;
if ( lastCarLocation != null ) {
LocationResult locationResult = new LocationResult();
locationResult.alt = lastCarLocation.getAltitude();
locationResult.heading = lastCarLocation.getBearing();
locationResult.lat = lastCarLocation.getLatitude();
locationResult.lon = lastCarLocation.getLongitude();
locationResult.satelliteTime = lastCarLocation.getTime();
locationResult.systemTime = System.currentTimeMillis();
locationResult.speed = lastCarLocation.getSpeed();
locationResult.mortonCode = MortonCode.wrapEncodeMorton( locationResult.lon, locationResult.lat );
}
List< ADASRecognizedResult > recognizedResults = MarkerServiceHandler.getADASController().getLastADASRecognizedResult();
}
private void initWorkThread() {
mThreadHandler = new Handler( WorkThreadHandler.getInstance().getLooper() ) {
@Override
@@ -473,6 +493,9 @@ public class MogoServices implements IMogoMapListener,
}
mStatusManager.setUserInteractionStatus( TAG, true, false );
mUiController.recoverLockMode();
} else if ( msg.what == ServiceConst.MSG_SEND_CAR_LOCATION_AND_ADAS_RECOGNIZED_RESULT_2_SERVER ) {
startSendCarLocationAndAdasRecognizedResult2Server();
mThreadHandler.sendEmptyMessageDelayed( ServiceConst.MSG_SEND_CAR_LOCATION_AND_ADAS_RECOGNIZED_RESULT_2_SERVER, ServiceConst.INTERVAL_SEND_CAR_LOCATION_AND_ADAS_RECOGNIZED_RESULT_2_SERVER );
}
}
};
@@ -748,6 +771,7 @@ public class MogoServices implements IMogoMapListener,
if ( latLng == null ) {
return;
}
mLastCarLocation = latLng;
// poi 定位无法获取时，使用该定位
if ( mLastAutoRefreshLocation == null ) {
MogoLatLng point = new MogoLatLng( latLng.getLatitude(), latLng.getLongitude() );

10
modules/mogo-module-service/src/main/java/com/mogo/module/service/ServiceConst.java
View File

@@ -218,4 +218,14 @@ public class ServiceConst {
*/
public static final long INTERVAL_SCHEDULE_CALCULATE_NOT_HOME_COMPANY_DISTANCE_FOR_PUSH = 60 * 1_000L;
/**
* 发送自车位置和adas识别结果给服务端
*/
public static final int MSG_SEND_CAR_LOCATION_AND_ADAS_RECOGNIZED_RESULT_2_SERVER = 0x401;
/**
* 间隔 1s 发送一次
*/
public static final long INTERVAL_SEND_CAR_LOCATION_AND_ADAS_RECOGNIZED_RESULT_2_SERVER = 1 * 1_000L;
}

23
modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotParameters.java
View File

@@ -1,23 +0,0 @@
package com.mogo.module.service.autopilot;
import java.util.List;
public
/**
* @author congtaowang
* @since 2020/10/16
*
* 自动驾驶参数
*/
class AutoPilotParameters {
public AutoPilotLonLat startLatLon;
public List< AutoPilotLonLat > wayLatLons;
public AutoPilotLonLat endLatLon;
public float speedLimit;
public static class AutoPilotLonLat {
public double lat;
public double lon;
}
}

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

@@ -2,6 +2,7 @@ package com.mogo.module.service.autopilot;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.service.connection.IMogoOnMessageListener;
import com.mogo.service.connection.IMogoSocketManager;
import com.mogo.utils.logger.Logger;
@@ -22,21 +23,21 @@ class AutoPilotRemoteController {
private IMogoSocketManager mMogoSocketManager;
private IMogoOnMessageListener< AutoPilotParameters > mParametersListener = new IMogoOnMessageListener< AutoPilotParameters >() {
private IMogoOnMessageListener< RemoteControlAutoPilotParameters > mParametersListener = new IMogoOnMessageListener< RemoteControlAutoPilotParameters >() {
@Override
public Class< AutoPilotParameters > target() {
return AutoPilotParameters.class;
public Class< RemoteControlAutoPilotParameters > target() {
return RemoteControlAutoPilotParameters.class;
}
@Override
public void onMsgReceived( AutoPilotParameters obj ) {
public void onMsgReceived( RemoteControlAutoPilotParameters obj ) {
if ( obj == null ) {
Logger.e( TAG, "远端控制参数为null", new NullPointerException() );
return;
}
String json = GsonUtil.jsonFromObject( obj );
Logger.d( TAG, json );
MogoApisHandler.getInstance().getApis().getAdasControllerApi().aiCloudToAdasData( json );
MogoApisHandler.getInstance().getApis().getAdasControllerApi().aiCloudToAdasData( obj );
}
};

9
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -24,6 +24,7 @@ import com.mogo.map.search.geo.IMogoGeoSearchListener;
import com.mogo.map.search.geo.MogoGeocodeResult;
import com.mogo.map.search.geo.MogoRegeocodeResult;
import com.mogo.map.search.geo.query.MogoRegeocodeQuery;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.dialog.WMDialog;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.MogoServiceProvider;
@@ -357,6 +358,14 @@ public class MockIntentHandler implements IntentHandler {
case 33:
AIAssist.getInstance( context ).speakTTSVoice( "庞帆说这个是一个 hard coding." );
break;
case 34:
int type = intent.getIntExtra( "type", 0 );
if ( type != 0 ) {
MogoApisHandler.getInstance().getApis().getMapFrameControllerApi().changeToVRMode();
} else {
MogoApisHandler.getInstance().getApis().getMapFrameControllerApi().changeTo2dMode();
}
break;
}
}

139
modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/MortonCode.java Normal file
View File

@@ -0,0 +1,139 @@
package com.mogo.module.service.utils;
import java.util.Arrays;
/**
* 莫顿编码
*
* @author linyang
* @since 2020.07.09
*/
public class MortonCode {
/**
* morton 转 经纬度 时的中间常量
*/
private static final long NDS_180_DEGREES = 0x7fffffff;
/**
* morton 转 经纬度 时的中间常量
*/
private static final long NDS_360_DEGREES = 4294967295L;
/**
* morton 转 经纬度 时的中间常量
*/
private static final long NDS_90_DEGREES = 0x3fffffff;
/**
* 经纬度转 morton 时的中间常量
*/
private static final double RULE_MORTON = Math.pow( 2, 32 ) / 360;
/**
* morton 转 经纬度 时的中间常量
*/
private static final double RULE_MORTON_TO_LONLAT = 360.0 / Math.pow( 2, 32 );
/**
* 编码 morton code
*
* @param lon
* @param lat
* @return
*/
public static long encodeMorton( Double lon, Double lat ) {
Long bit = 1L;
long mortonCode = 0L;
long x = ( long ) ( lon * RULE_MORTON );
long y = ( long ) ( lat * RULE_MORTON );
if ( y < 0 ) {
y += 0x7FFFFFFF;
}
y = y << 1;
for ( int i = 0; i < 32; i++ ) {
// x-part
mortonCode = mortonCode | ( x & bit );
x = x << 1;
bit = bit << 1;
// y-part
mortonCode = mortonCode | ( y & bit );
y = y << 1;
bit = bit << 1;
}
return mortonCode;
}
/**
* 将莫顿码解码为坐标
*
* @param mortonCode
* @return
*/
public static double[] decodeMorton( long mortonCode ) {
long[] midPoint = mortonCodeToCoord( mortonCode );
normalizeCoord( midPoint );
double[] point = new double[2];
// 将经纬度长整数转化为 浮点类型
point[0] = midPoint[0] * RULE_MORTON_TO_LONLAT;
point[1] = midPoint[1] * RULE_MORTON_TO_LONLAT;
return point;
}
/**
* 莫顿码分别拆解为 编码后的经纬度长整数
*
* @param mortonCode
* @return
*/
private static long[] mortonCodeToCoord( long mortonCode ) {
long bit = 1L;
long[] longPoint = new long[2];
for ( int i = 0; i < 32; i++ ) {
longPoint[0] |= mortonCode & bit;
mortonCode >>= 1;
longPoint[1] |= mortonCode & bit;
bit <<= 1;
}
return longPoint;
}
/**
* 对编码后的经纬度长整数进行解码
*
* @param midPoint
*/
private static void normalizeCoord( long[] midPoint ) {
// if x > 180 degrees, then subtract 360 degrees
if ( midPoint[0] > NDS_180_DEGREES ) {
midPoint[0] -=
NDS_360_DEGREES + 1; // add 1 because 0 must be counted as well
} else if ( midPoint[0] < -NDS_180_DEGREES ) // if x < 180 , x += 360
{
midPoint[0] +=
NDS_360_DEGREES + 1; // add 1 because 0 must be counted as well
}
// if y > 90 degrees, then subtract 180 degrees
if ( midPoint[1] > NDS_90_DEGREES ) {
midPoint[1] -=
NDS_180_DEGREES + 1; // add 1 because 0 must be counted as well
} else if ( midPoint[1] < -NDS_90_DEGREES ) // if y < 90, y += 180
{
midPoint[1] +=
NDS_180_DEGREES + 1; // add 1 because 0 must be counted as well
}
return;
}
public static void main( String[] args ) {
System.out.println( encodeMorton( 116.39584, 39.98152 ) );
System.out.println( Arrays.toString( decodeMorton( 1415388919630379091L ) ) );
}
}

21
modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/LocationResult.java Normal file
View File

@@ -0,0 +1,21 @@
package com.mogo.module.service.websocket;
public
/**
* @author congtaowang
* @since 2020/10/25
*
* 自车定位信息
*/
class LocationResult {
public String sn;
public double lat;
public double lon;
public double heading;
public long systemTime;
public long satelliteTime;
public double alt;
public double speed;
public long mortonCode;
}

18
modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/OnePerSecondSendContent.java Normal file
View File

@@ -0,0 +1,18 @@
package com.mogo.module.service.websocket;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import java.util.List;
public
/**
* @author congtaowang
* @since 2020/10/25
*
* 一秒一次的上行数据
*/
class OnePerSecondSendContent {
public LocationResult self;
public List< ADASRecognizedResult > adas;
}